Automatic cabinet entry robot and cabinet entry method used in logistics distribution points

Abstract

The present invention belongs to the field of logistics, and discloses an automatic cabinet entry robot applied to logistics distribution points, which can realize intelligent warehousing at logistics distribution points, fast and accurate box entry, thereby greatly reducing costs for logistics companies and improving customer satisfaction, including a mechanical arm base, an arm shoulder seat, a large arm bar, an arm elbow seat, a small arm bar and a manipulator connected in sequence, the arm shoulder seat can rotate in a horizontal plane relative to the mechanical arm base, the large arm bar can rotate in a vertical plane relative to the arm shoulder seat, the arm elbow seat can rotate in a vertical plane relative to the large arm bar, the small arm bar can rotate around an axis in a vertical plane relative to the arm elbow seat, and the arm wrist seat can rotate in a horizontal plane relative to the small arm bar, so that the manipulator can accurately realize six degrees of freedom in space to grab express delivery. The present invention also discloses a method for intelligent cabinet entry of express delivery, which can better realize intelligent box entry of express delivery through an automatic cabinet entry robot applied to logistics distribution points.

Description

Technical Field

[0001] The present invention belongs to the field of logistics, and in particular relates to an automatic cabinet-entering robot and a cabinet-entering method applied to a logistics distribution point. Background Art

[0002] In the process of logistics transportation, logistics distribution points are indispensable settings. Generally, express storage cabinet walls formed by regularly arranged express storage boxes of various specifications and volumes are set up at logistics distribution points to temporarily store express deliveries.

[0003] At present, advanced logistics technologies have been adopted in the operations of the three links in the internal process of the industry: sorting and sealing, express transportation, and sorting and sealing at transfer stations. The express delivery collection link in the logistics distribution point is put into the cabinet by manual labor or conveyor belt transportation combined with manual labor.

[0004] Therefore, traditional technology has a low level of automation and a rough operating process, which not only wastes a lot of human resources, but also poses the risk of not being able to meet customer order demands during periods of business boom, making it difficult for logistics companies to balance costs and customer satisfaction. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides an automatic cabinet entry robot and a cabinet entry method for use at logistics distribution points, which can realize intelligent warehousing at logistics distribution points, fast and accurate entry into boxes, thereby greatly reducing costs for logistics companies while also improving customer satisfaction.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The automatic cabinet entry robot applied to logistics distribution points is used to realize the intelligent box entry of express delivery. The wall of the express storage cabinet has multiple position identification codes spaced at predetermined distances. The robot is characterized in that it includes: a predetermined vehicle body, including a loading box with an upper opening and wheels arranged below the loading box; and a cabinet entry mechanism, which is located near the loading box. The cabinet entry mechanism includes a lifting unit detachably arranged on the predetermined vehicle body and an RFID active tag and a mechanical arm unit both arranged on the lifting unit. The lifting unit is used to drive the mechanical arm unit to lift or lower relative to the predetermined vehicle body, and the RFID active tag is used to The robot unit includes a robot base and a large arm assembly, a small arm assembly and a robot assembly which are installed on the robot base and are connected in sequence. The large arm assembly includes an arm shoulder seat drive motor, a worm gear mechanism, an arm shoulder seat, a large arm drive motor and a large arm rod. The arm shoulder seat drive motor is installed on the robot base. The lower end of the arm shoulder seat is installed on the output shaft of the arm shoulder seat drive motor through the worm gear mechanism. The large arm drive motor is installed on the upper end of the arm shoulder seat. One end of the large arm rod The arm assembly comprises an elbow seat drive motor, an elbow seat, an arm drive motor and an arm lever, the elbow seat drive motor is mounted on the other end of the arm lever, the end of the elbow seat is mounted on the output shaft of the elbow seat drive motor, the arm drive motor is mounted on the elbow seat, one end of the arm lever is arranged on the output shaft of the arm drive motor and one end of the arm lever is located on the elbow seat, The output shaft of the arm-wrist drive motor is horizontally arranged, and the output shaft of the forearm drive motor is perpendicular to the output shaft of the arm-wrist drive motor. The manipulator assembly includes an arm-wrist drive motor, an arm-wrist seat, a bevel gear pair and a manipulator. The arm-wrist drive motor is installed on the other end of the forearm rod, and one end of the arm-wrist seat is arranged at the other end of the forearm rod. The output shaft of the arm-wrist drive motor is coaxial with the forearm rod. The two bevel gears of the bevel gear pair are respectively installed on the output shaft of the arm-wrist drive motor and the arm-wrist seat, and the two gear axes are perpendicular to each other. The manipulator is installed at the other end of the arm-wrist seat. The manipulator is used to grab or release the express.

[0008] Preferably, the manipulator includes a scooping finger and a fastening finger, and the manipulator assembly also includes an opening and closing drive motor, a bidirectional drive screw and two mechanical finger connecting blocks. The opening and closing drive motor is installed at the other end of the arm wrist seat and the output shaft is parallel to the gear axis of the bevel gear on the arm wrist seat. The bidirectional drive screw is installed on the output shaft of the opening and closing drive motor, and the scooping finger and the fastening finger are symmetrically and movably arranged on the bidirectional drive screw through two mechanical finger connecting blocks.

[0009] Furthermore, the scooping finger has a scooping portion in a shovel shape, and the fastening finger has a fastening portion in a multi-step shape. The fastening portion and the scooping portion are arranged opposite to each other. When the opening and closing drive motor rotates, the fastening portion and the scooping portion move towards or away from each other.

[0010] Furthermore, the manipulator assembly also includes a pressure sensor arranged on the scooping part, and the pressure sensor is connected to the opening and closing drive motor signal.

[0011] Furthermore, the scooping fingers and the fastening fingers are both made of rigid material, and the fastening portion is coated with thermoplastic synthetic resin polypropylene material.

[0012] Preferably, the manipulator assembly also includes a binary camera arranged on the arm wrist seat, all express cabinet boxes on the express storage cabinet wall have multiple different volumes, and the cabinet entry mechanism also includes a 4G communication module.

[0013] Preferably, the lifting unit includes a lifting base, a lifting drive motor, a spur gear pair, two lifting drive shafts, a scissors-type lifting mechanism and a lifting plate. The lifting base can be detachably arranged on a predetermined vehicle body. The lifting drive motor is a co-directional double-output shaft motor. The two spur gears of the spur gear pair are respectively mounted on the two output shafts of the lifting drive motor. The two lifting drive shafts are respectively mounted on the two spur gears through key connections. The two lifting drive shafts are used to drive the scissors-type lifting mechanism from the lower end. The lifting plate is arranged at the upper end of the scissors-type lifting mechanism, and the robotic arm base is mounted on the lifting plate.

[0014] The present invention provides a method for intelligent express delivery into a locker, which is characterized by comprising the following steps:

[0015] Step S1: obtaining a plurality of express parcels of different volume specifications and concentrating them in a loading box;

[0016] Step S2: Mechanically connecting the cabinet entry mechanism to the predetermined vehicle body;

[0017] Step S3: Controlling the automatic cabinet entry robot used in the logistics distribution point to travel along a predetermined path near the wall of the express storage cabinet through the remote control terminal;

[0018] Step S4: the remote control terminal controls the robot to locate any express item in the loading box and place it as the express item to be put into the cabinet;

[0019] Step S5: Obtaining the volume information of the express to be put into the cabinet through a binary camera;

[0020] Step S6: When the cabinet entry mechanism passes a location identification code, the cabinet entry mechanism obtains the cabinet wall location information contained in the location identification code through the 4G communication module.

[0021] Step S7: the cabinet entry mechanism transmits the unpacking request information including the express volume information and the cabinet wall position information to the remote control terminal, and the remote control terminal then controls the express cabinet box corresponding to the volume of the express to be entered near the cabinet entry mechanism to be opened and used as the cabinet box to be accommodated;

[0022] Step S8: The remote control terminal controls the cabinet entry mechanism to move to the vicinity of the cabinet to be accommodated, and the manipulator intelligently enters the express to be accommodated into the cabinet, and the remote control terminal controls the manipulator to close the door of the express cabinet through the shoveling finger at a predetermined time after the manipulator releases the express to be accommodated;

[0023] Step S9: Repeat steps S4-S8 until the entry mechanism passes all position identification codes of the express storage cabinet wall.

[0024] Preferably, in step S5, the binary camera obtains the express volume information of the express to be delivered to the cabinet at the pixel level.

[0025] Preferably, in step S7, the position of the currently identified location identification code is used as the initial position of the area request, and the partial area of ​​the express storage cabinet wall included in the currently identified location identification code is used as the requested unpacking area.

[0026] The remote control terminal has the following priority order for opening express lockers near the entry mechanism: within the requested opening area, the opening priority of the lockers to be accommodated decreases along the extended length of the express storage cabinet wall as they move away from the initial position of the requested area.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. Because the arm shoulder seat of the present invention is installed on the output shaft of the arm shoulder seat drive motor through a worm gear mechanism, the boom drive motor is installed on the arm shoulder seat, the boom rod is arranged on the output shaft of the boom drive motor, the output shaft of the arm shoulder seat drive motor and the output shaft of the boom drive motor are both arranged horizontally, the output shaft of the worm gear mechanism is arranged vertically, the arm elbow seat drive motor is installed on the boom rod, the arm elbow seat is installed on the output shaft of the arm elbow seat drive motor, the forearm drive motor is installed on the arm elbow seat, the forearm rod is arranged on the output shaft of the forearm drive motor and the forearm rod is located on the arm elbow seat, the output shaft of the arm elbow seat drive motor is arranged horizontally, the output shaft of the forearm drive motor is perpendicular to the output shaft of the arm elbow seat drive motor, the wrist drive motor is installed on the forearm rod, and the wrist seat One end is arranged on the small arm rod, the output shaft of the arm wrist driving motor is coaxial with the small arm rod, the two bevel gears of the bevel gear pair are respectively installed on the output shaft of the arm wrist driving motor and the arm wrist seat, and the two gear axes are perpendicular to each other, the arm shoulder seat can rotate in the horizontal plane relative to the robot arm base, the large arm rod can rotate in the vertical plane relative to the arm shoulder seat, the arm elbow seat can rotate in the vertical plane relative to the large arm rod, the small arm rod can rotate around the axis in the vertical plane relative to the arm elbow seat, and the arm wrist seat can rotate in the horizontal plane relative to the small arm rod, so that the robot arm can accurately realize six-degree-of-freedom space to grab express delivery. Therefore, the present invention can realize intelligent warehousing at logistics distribution points, which is fast and accurate in box entry, thereby greatly reducing costs for logistics companies while also improving customer satisfaction.

[0029] 2. Because the manipulator of the present invention includes scooping fingers and fastening fingers, the manipulator assembly also includes an opening and closing drive motor, a bidirectional drive screw and two mechanical finger connecting blocks. The opening and closing drive motor is installed at the other end of the arm wrist seat and the output shaft is parallel to the gear axis of the bevel gear on the arm wrist seat. The bidirectional drive screw is installed on the output shaft of the opening and closing drive motor. The scooping fingers and fastening fingers are respectively symmetrically and movably arranged on the bidirectional drive screw through two mechanical finger connecting blocks. When the manipulator grabs the express into the loading box, the scooping fingers are used to shovel against the end face of the express package, and the fastening fingers are used to cooperate with the scooping fingers to clamp and grab the express. Therefore, the present invention can simply achieve stable grabbing of the express.

[0030] 3. Because the scooping finger of the present invention has a scooping part in the shape of a shovel, and the fastening finger has a fastening part in the shape of a multi-step, the fastening part and the scooping part are arranged opposite to each other. When the opening and closing drive motor rotates, the fastening part and the scooping part move toward or away from each other. When the manipulator grabs express parcels of different sizes, the multi-step structure on the fastening part makes it possible for the manipulator to simultaneously achieve better correspondence to the external shapes of express parcels of various widths by only controlling the different grabbing lengths of the manipulator on the express parcel. Therefore, the present invention can simultaneously achieve stable grabbing of express parcels of various widths, thereby improving the applicability of the present invention.

[0031] 4. Because the manipulator assembly of the present invention also includes a pressure sensor arranged on the scooping part, the pressure sensor is connected to the opening and closing drive motor signal. When the pressure sensor detects that the value of the reaction pressure generated by the clamped express on the manipulator exceeds the clamping threshold, the pressure sensor sends a stop clamping signal, and the opening and closing drive motor stops according to the stop clamping signal. Therefore, the manipulator of the present invention can stop clamping when the predetermined clamping force is reached on the express, thereby avoiding damage to the express itself due to excessive clamping force.

[0032] 5. Because the scooping fingers and the fastening fingers of the present invention are both made of rigid materials, and the fastening part is coated with a flexible thermoplastic synthetic resin polypropylene material, the manipulator of the present invention always maintains flexible contact with the surface of the express during the process of grabbing the express, thereby further improving the damage-free effect during the grabbing process.

[0033] 6. Because the manipulator assembly of the present invention also includes a binary camera arranged on the arm wrist seat, all the express cabinets on the express storage cabinet wall have multiple different volumes, and the cabinet entry mechanism also includes a 4G communication module. Before grabbing the express, the manipulator first uses the binary camera to identify the size of the express at the pixel level, and then communicates and interacts with the RFID active tag to obtain the express storage cabinet wall position positioning information through the volume identification, which is merged into the unpacking request information, and is transmitted to the remote control terminal in the form of a signal through the 4G communication module. The remote control terminal then controls the express cabinets of corresponding volumes nearby the present invention to open. Therefore, the present invention can open the nearby cabinets for entry according to the volume of the express and the specific position of the express storage cabinet wall, thereby greatly improving the efficiency of express entry.

[0034] 7. Because the present invention also provides an express intelligent locker delivery method implemented by the above-mentioned automatic locker delivery robot applied to logistics distribution points in cooperation with a remote control terminal, it is possible to better realize the intelligent delivery of express through the automatic locker delivery robot applied to logistics distribution points. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of an automatic cabinet entry robot applied to a logistics distribution point according to an embodiment of the present invention;

[0036] Figure 2 A schematic diagram of a predetermined vehicle body according to an embodiment of the present invention;

[0037] Figure 3 is a schematic diagram of a lifting unit according to an embodiment of the present invention;

[0038] Figure 4 is a schematic diagram of a mechanical arm unit according to an embodiment of the present invention;

[0039] Figure 5 is a schematic diagram of a manipulator assembly according to an embodiment of the present invention;

[0040] Figure 6 A schematic diagram of the cooperation between the mechanical finger connecting block and the bidirectional driving lead screw of an embodiment of the present invention; and

[0041] Figure 7 The present invention is a schematic diagram of the steps of the intelligent express locker entry method according to an embodiment of the present invention.

[0042] In the figure: 100, automatic cabinet-entering robot used in logistics distribution points, 10, predetermined vehicle body, 11, loading box, 12, wheels, 13, connecting plate, 20, cabinet-entering mechanism, 210, lifting unit, 211, lifting base plate, 212, spur gear pair, 213, scissor-type lifting mechanism, 214, lifting plate, 220, mechanical arm unit, 221, mechanical arm base, 222, large arm assembly, 2221, arm shoulder seat drive motor, 2222, arm shoulder seat, 2223, large arm drive motor , 2224, big arm rod, 223, small arm assembly, 2231, arm elbow seat, 2232, small arm drive motor, 2233, small arm rod, 224, manipulator assembly, 2241, arm wrist seat, 2242, two-way drive screw, 2243, mechanical finger connecting block, 2244, manipulator, 22441, shoveling finger, 22441a, shoveling part, 22442, fastening finger, 22442a, fastening part, 2245, binary camera, S100, express intelligent cabinet entry method. DETAILED DESCRIPTION

[0043] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following embodiments and the accompanying drawings specifically illustrate the automatic cabinet entry robot and cabinet entry method applied to logistics distribution points of the present invention. It should be noted that the description of these implementation methods is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0044] The automatic cabinet entry robot used in the logistics distribution point in this embodiment is used to cooperate with the remote control terminal to realize the intelligent entry of express packages packed in boxes into the express storage cabinet wall (not shown in the attached figure). The express storage cabinet wall extends in a straight line direction and has a multi-layer cabinet structure arranged along the height direction. Each layer of the structure has a plurality of express cabinets evenly arranged along the extended length direction of the express storage cabinet wall. All express cabinets in the express storage cabinet wall have a plurality of different volumes. At the bottom end of the express storage cabinet wall, there are a plurality of position identification codes arranged along the extended length direction of the express storage cabinet wall and at predetermined intervals. Each position identification code contains the identification information, plane distance and vertical distance information of all express cabinets in a predetermined area near the position of the position identification code from the position. The remote control terminal stores the identification information of all express cabinets, whether the corresponding express cabinets are occupied and the volume size information.

[0045] like Figure 1 As shown, the automatic cabinet entry robot 100 applied to a logistics distribution point includes a predetermined vehicle body 10 and a cabinet entry mechanism 20 .

[0046] like Figure 2 As shown, the predetermined vehicle body 10 includes a loading box 11 with an opening at the upper end, wheels 12 arranged under the loading box 11, and a connecting plate 13 installed on one side of the bottom of the loading box 11. The loading box 11 is used to load a plurality of express packages packaged in boxes that need to be placed into the express storage cabinet wall. The connecting plate 13 is used to mechanically connect with the cabinet entry mechanism 20. In this embodiment, the number of predetermined vehicle bodies 10 is multiple, and the loading capacity is different, so that different numbers of express packages can be loaded according to actual needs.

[0047] The cabinet entry mechanism 20 is located near the loading box 11 , and includes an RFID active tag (not shown in the drawings), a 4G communication module (not shown in the drawings), a lifting unit 210 and a robotic arm unit 220 .

[0048] The RFID active tag is set on the lifting unit 210, and is used to communicate and interact with the location identification code, so as to determine the corresponding area location information contained in the location identification code closest to the cabinet entry mechanism 20. The 4G communication module is used to communicate and interact with the remote control terminal, and the RFID active tag is connected to the 4G communication module signal.

[0049] like Figure 1 and Figure 3 As shown, the lifting unit 210 is detachably disposed on the predetermined vehicle body 10 , and the lifting unit 210 is used to drive the mechanical arm unit 220 to be lifted or lowered relative to the predetermined vehicle body 10 .

[0050] The lifting unit includes a lifting base 211 , a lifting drive motor (not shown in the drawings), a spur gear pair 212 , two lifting drive shafts (not shown in the drawings), a scissor-type lifting mechanism 213 and a lifting plate 214 .

[0051] The lifting base 211 is detachably disposed on the predetermined vehicle body 10 . Specifically, the lifting base 211 is connected to the connecting plate 13 via threads. In the present embodiment, the RFID active tag and the 4G communication module are both disposed on the lifting base plate 211 .

[0052] The lifting drive motor is installed on the lifting base 211. The lifting drive motor is a co-directional double-output shaft motor. The two spur gears of the spur gear pair 212 are respectively installed on the two output shafts of the lifting drive motor. The two lifting drive shafts are respectively installed on the two spur gears through key connections. The two lifting drive shafts are used to drive the scissors-type lifting mechanism 213 from the lower end, so that the scissors-type lifting mechanism 213 can be stretched or retracted in the vertical direction relative to the lifting base 211. The lifting plate 214 is arranged at the upper end of the scissors-type lifting mechanism 213, so as to lift or lower it relative to the lifting base 211.

[0053] like Figure 1 and Figure 4 As shown, the robot unit 220 is arranged on the lifting unit 210, including a robot base 221 and a large arm assembly 222, a small arm assembly 223 and a robot hand assembly 224 installed on the robot base 221 and connected in sequence.

[0054] The robot arm base 221 is installed on the lifting plate 214 .

[0055] The boom assembly 222 includes an arm shoulder seat drive motor 2221 , a worm gear mechanism (not shown in the drawings), an arm shoulder seat 2222 , a boom drive motor 2223 and a boom rod 2224 .

[0056] The arm shoulder seat driving motor 2221 is installed on the robot arm base 221, and the output shaft of the arm shoulder seat driving motor 2221 is arranged horizontally.

[0057] The worm gear mechanism has a horizontally arranged input shaft and a vertically arranged output shaft. The output shaft of the arm shoulder seat driving motor 2221 is connected to the input shaft of the worm gear mechanism, and the output shaft of the worm gear mechanism is connected to the lower end of the arm shoulder seat 2222.

[0058] The lower end of the arm shoulder seat 2222 is installed on the output shaft of the arm shoulder seat driving motor 2221 through a worm gear mechanism, and the arm shoulder seat 2222 is inclined relative to the horizontal plane.

[0059] The boom drive motor 2223 is installed at the upper end of the arm shoulder seat 2222, and the output shaft of the boom drive motor 2223 is horizontally arranged, one end of the boom rod 2224 is arranged on the output shaft of the boom drive motor 2223 and one end of the boom rod 2224 is located at the upper end of the arm shoulder seat 2222. When the boom drive motor 2223 rotates, the angle formed by the boom rod 2224 and the arm shoulder seat 2222 increases or decreases. In this embodiment, the number of the boom drive motors 2223 is 2, which are respectively located on the corresponding two sides of the upper end of the arm shoulder seat 2222, and are used to jointly drive the boom rod 2224 to rotate.

[0060] The forearm assembly 223 includes an arm elbow seat driving motor (not shown in the drawings), an arm elbow seat 2231 , a forearm driving motor 2232 and a forearm rod 2233 .

[0061] The arm elbow seat drive motor is installed on the other end of the big arm rod 2224, and the end of the arm elbow seat 2231 is installed on the output shaft of the arm elbow seat drive motor, and the output shaft of the arm elbow seat drive motor is arranged horizontally.

[0062] The forearm driving motor 2232 is installed on the arm elbow seat 2231, one end of the forearm rod 2233 is set on the output shaft of the forearm driving motor 2232 and one end of the forearm rod is located on the arm elbow seat 2231, and the output shaft of the forearm driving motor 2232 is perpendicular to the output shaft of the arm elbow seat driving motor. When the forearm driving motor 2232 rotates, the angle formed by the forearm rod 2233 and the arm elbow seat 2231 increases or decreases.

[0063] like Figure 4 and Figure 5 As shown, the manipulator assembly 224 includes an arm drive motor (not shown in the drawings), an arm seat 2241, an opening and closing drive motor (not shown in the drawings), a bidirectional drive screw 2242, a mechanical finger connecting block 2243, a bevel gear pair (not shown in the drawings), a manipulator 2244, a pressure sensor (not shown in the drawings), and a binary camera 2245.

[0064] The arm drive motor is installed on the other end of the small arm rod 2233, one end of the arm seat 2241 is set at the other end of the small arm rod 2233, and the output shaft of the arm drive motor is coaxial with the small arm rod 2233.

[0065] The two bevel gears of the bevel gear pair are respectively installed on the output shaft of the arm drive motor and the arm seat 2241, and the two gear axes are perpendicular to each other. When the arm drive motor rotates, the arm seat 2241 rotates with the other end of the small arm rod 2233 as the center, and the axis of the small arm rod 2233 is perpendicular to the rotation plane of the arm seat 2241.

[0066] like Figure 5 and Figure 6As shown, the opening and closing driving motor is installed at the other end of the arm wrist seat 2241 and the output shaft of the opening and closing driving motor is parallel to the gear axis of the bevel gear on the arm wrist seat 2241.

[0067] The bidirectional driving screw 2242 is installed on the output shaft of the opening and closing driving motor. There are two mechanical finger connecting blocks 2243, which are movably arranged on the threaded parts in two directions of the bidirectional driving screw 2242, and the end of the mechanical finger connecting block 2243 is located on the outside of the other end of the arm wrist seat 2241.

[0068] The manipulator 2244 is installed at the other end of the arm wrist base 2241. The manipulator 2244 is used to grab or release the express. The manipulator 2244 includes a scooping finger 22441 and a fastening finger 22442. The scooping finger 22441 and the fastening finger 22442 are symmetrically and movably arranged on the bidirectional driving screw 2242 through two mechanical finger connecting blocks 2243 respectively.

[0069] The scooping finger 22441 has a scooping portion 22441a in a shovel shape, and the fastening finger 22442 has a fastening portion 22442a in a multi-step shape. The fastening portion 22441a and the scooping portion 22442a are arranged opposite to each other. When the opening and closing drive motor rotates, the fastening portion 22441a and the scooping portion 22442a move toward or away from each other.

[0070] The pressure sensor is arranged on the scooping part 22441a, and the pressure sensor is connected to the opening and closing drive motor signal. When the pressure value on the pressure sensor exceeds the preset clamping threshold, the pressure sensor sends a stop clamping signal, and the opening and closing drive motor stops according to the stop clamping signal.

[0071] The scooping finger 22441 and the fastening finger 22442 are both made of rigid materials, and the fastening portion 22442a is coated with a flexible thermoplastic synthetic resin polypropylene material. When the manipulator 2244 grabs the express, there is a flexible contact between the manipulator 2244 and the express.

[0072] The binary camera 2245 is disposed on the arm-wrist base 2241, and is used to identify the size of couriers of different sizes at the pixel level. The remote control terminal controls the gripping coverage distance of the robot 2244 for the couriers according to the recognition result of the size of the couriers by the binary camera 2245, so as to form a clamping distance corresponding to the size of the couriers between the scooping fingers 22441 and the fastening fingers 22442.

[0073] like Figure 7 As shown, a smart express delivery locker entry method S100 implemented by the above-mentioned automatic locker entry robot 100 applied to a logistics distribution point in cooperation with a remote control terminal includes the following steps:

[0074] Step S1: Obtain multiple express parcels of different volume specifications and concentrate them in a loading box 11.

[0075] Step S2: Mechanically connect the cabinet entry mechanism 20 to the predetermined vehicle body 10 .

[0076] Specifically, the cabinet entry mechanism 20 is threadedly connected to the predetermined vehicle body 10 .

[0077] Step S3: The automatic cabinet entry robot 100 used in the logistics distribution point is controlled by the remote control terminal to travel along a predetermined path near the wall of the express storage cabinet.

[0078] Specifically, the predetermined path is a straight path parallel to the plane where the wall of the express storage cabinet is located. The predetermined path is stored in the remote control terminal and can be set manually.

[0079] Step S4: The remote control terminal controls the robot 2244 to locate any express item in the loading box 11 and prepare it as the express item to be put into the cabinet.

[0080] Step S5: Obtain the express volume information of the express to be put into the cabinet through the binary camera 2245.

[0081] Specifically, the size of the express to be delivered to the cabinet is identified at the pixel level through the binary camera 2245, thereby obtaining the volume information of the express to be delivered to the cabinet.

[0082] Step S6: When the cabinet entry mechanism 20 passes a location identification code, the cabinet entry mechanism obtains the cabinet wall location information contained in the location identification code through the 4G communication module.

[0083] Specifically, the cabinet wall location information includes the identification information, plane distance and vertical distance information of all express cabinets in a predetermined area near the location of the location identification code from the location. The remote control terminal stores the identification information of all express cabinets, whether the corresponding express cabinets are occupied and the volume size information.

[0084] Step S7: The cabinet entry mechanism 20 transmits the unpacking request information including the express volume information and the cabinet wall position information to the remote control terminal through the RFID active tag and the 4G communication module. The remote control terminal then controls the express cabinet box corresponding to the volume of the express to be entered near the cabinet entry mechanism 20 to open and use it as the cabinet box to be accommodated.

[0085] Specifically, the position of the currently identified location identification code is used as the initial position of the area request, and the partial area of ​​the express storage cabinet wall included in the currently identified location identification code is used as the requested unpacking area;

[0086] The remote control terminal has the following priority order for opening the express lockers near the locker entry mechanism 20: within the requested opening area, the opening priority of the lockers to be accommodated decreases along the extended length of the express storage cabinet wall as they move away from the initial position of the requested area.

[0087] If no cabinet to be accommodated meets the cabinet entry requirements, the remote control terminal controls the cabinet entry mechanism 20 to continue moving to the next position identification code.

[0088] Step S8: The remote control terminal controls the cabinet entry mechanism 20 to move to the vicinity of the cabinet to be accommodated, and the manipulator 2244 intelligently enters the express to be accommodated into the cabinet, and the remote control terminal controls the manipulator 2244 to close the door of the express cabinet through the shoveling finger 22441 at a predetermined time after the manipulator 244 releases the express to be accommodated.

[0089] Step S9: Repeat steps S4-S8 until the cabinet entry mechanism 20 passes through all position identification codes of the express storage cabinet wall.

[0090] The above-mentioned embodiments are preferred cases of the present invention and are not intended to limit the protection scope of the present invention. Various modifications or variations that can be made by ordinary technicians in the field without creative work within the scope of the attached claims are still within the protection scope of this patent.

[0091] For example, in the above method, the loop termination condition is that the cabinet entry mechanism 20 passes through all the position identification codes of the express storage cabinet wall, but in actual application, the loop termination condition can also be set to that all the express deliveries in the loading box 11 are completed in the cabinet.

Claims

1. An automatic cabinet entry robot used in logistics distribution points is used to realize the intelligent entry of express delivery. The wall of the express storage cabinet has multiple position identification codes spaced at a predetermined distance, characterized in that: include: A predetermined vehicle body includes a loading box with an upper opening and wheels arranged below the loading box; as well as The cabinet entry mechanism is located near the loading box. The cabinet entry mechanism includes a lifting unit detachably arranged on the predetermined vehicle body, and an RFID active tag and a mechanical arm unit both arranged on the lifting unit. The lifting unit is used to drive the mechanical arm unit to lift or lower relative to the predetermined vehicle body. The RFID active tag is used to communicate and interact with the location identification code, so as to determine the location information contained in the location identification code closest to the cabinet entry mechanism. The robot arm unit includes a robot arm base and a large arm assembly, a small arm assembly and a robot hand assembly which are installed on the robot arm base and connected in sequence. The boom assembly includes an arm shoulder seat drive motor, a worm gear mechanism, an arm shoulder seat, a boom drive motor and a boom rod. The arm shoulder seat drive motor is installed on the mechanical arm base, the lower end of the arm shoulder seat is installed on the output shaft of the arm shoulder seat drive motor through the worm gear mechanism, the large arm drive motor is installed on the upper end of the arm shoulder seat, one end of the large arm rod is arranged on the output shaft of the large arm drive motor and one end of the large arm rod is located at the upper end of the arm shoulder seat, The output shaft of the shoulder seat drive motor and the output shaft of the large arm drive motor are both arranged horizontally, and the output shaft of the worm gear mechanism is arranged vertically. The small arm assembly includes an arm elbow seat drive motor, an arm elbow seat, a small arm drive motor and a small arm rod. The arm-elbow seat driving motor is mounted on the other end of the large arm rod, the end of the arm-elbow seat is mounted on the output shaft of the arm-elbow seat driving motor, the small arm driving motor is mounted on the arm-elbow seat, one end of the small arm rod is arranged on the output shaft of the small arm driving motor and one end of the small arm rod is located on the arm-elbow seat, The output shaft of the arm-elbow seat driving motor is arranged horizontally, and the output shaft of the forearm driving motor is perpendicular to the output shaft of the arm-elbow seat driving motor. The manipulator assembly includes an arm-wrist drive motor, an arm-wrist seat, a bevel gear pair and a manipulator. The arm drive motor is installed on the other end of the small arm rod, one end of the arm seat is arranged on the other end of the small arm rod, and the output shaft of the arm drive motor is coaxial with the small arm rod. The two bevel gears of the bevel gear pair are respectively mounted on the output shaft of the arm drive motor and the arm seat, and the two gear axes are perpendicular to each other. The manipulator is mounted on the other end of the arm-wrist seat, and is used to grab or release the express. The manipulator comprises a scooping finger and a fastening finger, The manipulator assembly also includes an opening and closing drive motor, a bidirectional drive lead screw and two mechanical finger connection blocks. The opening and closing driving motor is installed at the other end of the arm wrist seat and the output shaft is parallel to the gear axis of the bevel gear on the arm wrist seat. The bidirectional driving screw is installed on the output shaft of the opening and closing driving motor. The scooping finger and the fastening finger are symmetrically and movably arranged on the bidirectional driving screw through two mechanical finger connecting blocks respectively. The scooping finger has a scooping portion in a shovel shape, and the fastening finger has a fastening portion in a multi-step shape. The fastening portion and the scooping portion are arranged facing each other, When the opening and closing driving motor rotates, the fastening part and the scooping part move toward or away from each other. A binary camera is provided on the arm wrist seat, and the binary camera is used to identify the size of the express to be grasped. By controlling the grasping coverage distance of the manipulator to the express to be grasped, a clamping distance corresponding to the size of the express to be grasped is formed between the scooping fingers and the fastening fingers, thereby achieving stable grasping.

2. The automatic cabinet entry robot used in logistics distribution points according to claim 1 is characterized in that: in, The manipulator assembly further includes a pressure sensor disposed on the scooping portion, and the pressure sensor is connected to the opening and closing drive motor signal.

3. The automatic cabinet entry robot used in logistics distribution points according to claim 1 is characterized in that: in, The scooping fingers and the fastening fingers are both made of rigid materials, and the fastening portion is coated with thermoplastic synthetic resin polypropylene material.

4. The automatic cabinet entry robot used in logistics distribution points according to claim 1 is characterized in that: in, The manipulator assembly also includes a binary camera disposed on the arm and wrist seat, and all the express cabinets on the express storage cabinet wall have multiple different volumes. The cabinet entry mechanism also includes a 4G communication module.

5. The automatic cabinet entry robot used in logistics distribution points according to claim 1 is characterized in that: in, The lifting unit includes a lifting base, a lifting drive motor, a spur gear pair, two lifting drive shafts, a scissor-type lifting mechanism and a lifting plate. The lifting base is detachably arranged on the predetermined vehicle body, the lifting drive motor is a co-directional double-output shaft motor, the two spur gears of the spur gear pair are respectively mounted on the two output shafts of the lifting drive motor, the two lifting drive shafts are respectively mounted on the two spur gears through key connection, and the two lifting drive shafts are used to drive the scissor-type lifting mechanism from the lower end, The lifting plate is arranged at the upper end of the scissor-type lifting mechanism, and the mechanical arm base is installed on the lifting plate.

6. A method for intelligent express delivery locker entry implemented by the automatic locker entry robot used in a logistics distribution point according to any one of claims 1 to 5 in cooperation with a remote control terminal, characterized in that: The following steps are involved: Step S1: obtaining a plurality of express parcels of different volume specifications and concentrating them in the loading box; Step S2: Mechanically connecting the cabinet entry mechanism to the predetermined vehicle body; Step S3: Controlling the automatic cabinet entry robot applied to the logistics distribution point to travel along a predetermined path near the wall of the express storage cabinet through the remote control terminal; Step S4: the remote control terminal controls the robot to locate any express item in the loading box and place it as the express item to be put into the cabinet; Step S5: obtaining the express volume information of the express to be put into the cabinet through the binary camera; Step S6: When the cabinet entry mechanism passes a location identification code, the cabinet entry mechanism obtains the cabinet wall location information contained in the location identification code through the 4G communication module. Step S7: the cabinet entry mechanism transmits the unpacking request information including the express volume information and the cabinet wall position information to the remote control terminal, and the remote control terminal then controls the express cabinet box corresponding to the volume of the express to be entered near the cabinet entry mechanism to be opened and used as the cabinet box to be accommodated; Step S8: the remote control terminal controls the cabinet entry mechanism to move to the vicinity of the cabinet to be accommodated, and the manipulator intelligently enters the express to be accommodated into the cabinet to be accommodated, and the remote control terminal controls the manipulator to close the door of the express cabinet through the scooping finger at a predetermined time after the manipulator releases the express to be accommodated; Step S9: Repeat steps S4-S8 until the cabinet entry mechanism passes through all the location identification codes on the wall of the express storage cabinet.

7. The intelligent express delivery locker method according to claim 6, characterized in that: in, In step S5, the binary camera obtains the express volume information of the express to be put into the cabinet at the pixel level.

8. The intelligent express delivery locker method according to claim 6, characterized in that: in, In step S7, the position of the currently identified location identification code is used as the initial position of the area request, and the partial area of ​​the express storage cabinet wall included in the currently identified location identification code is used as the requested unpacking area. The remote control terminal has the following priority order for opening the express lockers near the locker entry mechanism: within the requested opening area, the opening priority of the lockers to be accommodated that are located at the requested initial position along the extended length of the express storage cabinet wall decreases as they move away from the requested initial position of the area.

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