Lockers, methods for taking out items, and methods for storing items

Abstract

The present disclosure provides a locker, an article retrieval method, and an article storage method. The locker includes: a locker body and a lifting platform, N storage compartments are provided on the locker body, a cavity for accommodating the lifting platform is provided in the central part of the locker body, and the lifting platform can move along the vertical direction of the locker body, where N is a positive integer; a first gripper and a second gripper are provided on the lifting platform, a carrier for holding articles is placed in each locker, and a first docking structure and a second docking structure are provided on the side of the carrier; the first gripper docks with the first docking structure to drive the carrier to move between the lifting platform and the storage compartment; the second gripper docks with the second docking structure to drive the carrier to move between the lifting platform and the object carrying device. The present disclosure can improve the efficiency of storing and retrieving articles.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the technical field of object storage and retrieval, and in particular, to a locker, an object retrieval method, and an object storage method. Background Art

[0002] In scenarios where traditional food collection cabinets have been placed, such as office buildings, hospitals, and schools, after the delivery staff puts the takeaway into the cabinet, the user may not be able to pick up the food in time due to some temporary conditions. In this case, the user needs to use a robot to deliver the food to the designated location.

[0003] However, the current food collection cabinets cannot meet the needs of delivery personnel and robots to collect food at the same time, and cannot meet the rapid response needs during peak meal time periods, resulting in low food collection efficiency. Summary of the invention

[0004] The embodiments of the present disclosure provide a locker, an item retrieval method, and an item storage method to meet the needs of delivery personnel and robots to retrieve items at the same time and the need for rapid response during peak hours, and can store and retrieve items at the same time, thereby improving the storage and retrieval efficiency of items.

[0005] According to a first aspect of an embodiment of the present disclosure, a locker is provided, the locker comprising: a locker body and a lifting platform, wherein the locker body is provided with N storage compartments, the central portion of the locker body is a cavity with one side open formed by the shell of the locker body, the lifting platform is placed in the cavity, the lifting platform can move along the vertical direction of the locker body, and N is a positive integer;

[0006] The lifting platform is provided with a first gripper and a second gripper, a carrier for holding items is placed in each storage compartment, and a first docking structure and a second docking structure are provided on the side of the carrier;

[0007] The first gripper is docked with the first docking structure to drive the carrier to move between the lifting platform and the storage compartment;

[0008] The second gripper is docked with the second docking structure to drive the carrier to move between the lifting platform and the object carrying device.

[0009] Optionally, a first limit switch is provided on the lifting platform, which is triggered when the carrier reaches a specified position on the lifting platform to limit the carrier.

[0010] Optionally, a second limit switch is provided on the carrier, which is triggered when the carrier reaches a specified position on the carrier to limit the carrier.

[0011] Optionally, the system further comprises: a motor,

[0012] The motor is connected to the lifting platform through a first transmission mechanism, so as to drive the lifting platform to move through the first transmission mechanism;

[0013] The motor is connected to the first gripper through a second transmission mechanism, so as to drive the first gripper to move through the second transmission mechanism;

[0014] The motor is connected to the second gripper through a third transmission mechanism, so as to drive the second gripper to move through the third transmission mechanism.

[0015] Optionally, a power-off brake device is provided on the motor shaft of the motor to start when the motor is powered off.

[0016] Optionally, a moving direction of the first gripper and a moving direction of the second gripper are perpendicular to each other.

[0017] Optionally, a limiting device is provided in the storage compartment opening to be activated when the first gripper or the second gripper is docked with the carrier.

[0018] Optionally, when taking out items from the Mth storage compartment, the first gripper is docked with the first docking structure of the first carrier in the Mth storage compartment, and the first carrier is driven to move onto the lifting platform; after the first gripper is undocking with the first docking structure of the first carrier, the second gripper is docked with the second docking structure of the first carrier, and the first carrier is driven to move into the carrying device, M is a positive integer, and 1≤M≤N.

[0019] Optionally, when moving an item from the loading device to the Kth storage compartment, the second gripper is docked with the second docking structure of the second carrier loaded with the item in the loading device, and the second carrier is driven to move to the lifting platform; after the second gripper is undocking with the second docking structure of the second carrier, the first gripper is docked with the first docking structure of the second carrier, and the second carrier is driven to move to the Kth storage compartment, where K is a positive integer and 1≤K≤N.

[0020] According to a second aspect of an embodiment of the present disclosure, a method for taking out an item is provided, which is applied to any of the above-mentioned lockers, wherein the locker comprises: a locker body and a lifting platform, wherein the locker body is provided with N storage compartments, where N is a positive integer, and the method comprises:

[0021] When taking out an item from the Mth storage compartment, the first gripper on the lifting platform is docked with the first docking structure of the carrier of the Mth storage compartment; M is a positive integer, 1≤M≤N;

[0022] The carrier is driven to move onto the lifting platform by the first gripper;

[0023] When the carrier moves to a designated position on the lifting platform, the first gripper is disconnected from the first docking structure, and the second gripper on the lifting platform is connected to the second docking structure of the carrier;

[0024] The carrier is driven to move into the object carrying device by the second gripper;

[0025] When the carrier moves to a designated position in the object-carrying device, the docking between the second gripper and the second docking structure is cancelled.

[0026] According to a third aspect of an embodiment of the present disclosure, there is provided an article storage method, which is applied to any of the above-mentioned lockers, wherein the locker comprises: a locker body and a lifting platform, wherein the locker body is provided with N storage compartments, where N is a positive integer, and the method comprises:

[0027] When storing the item from the loading device to the Mth storage compartment, the second gripper on the lifting platform is docked with the second docking structure of the carrier in the loading device; M is a positive integer, 1≤M≤N;

[0028] The carrier is driven to move onto the lifting platform by the second gripper;

[0029] When the carrier moves to a designated position on the lifting platform, the docking between the second gripper and the second docking structure is cancelled, and the first gripper on the lifting platform is docked with the first docking structure of the carrier;

[0030] The carrier is driven to move into the Mth storage compartment by the first gripper;

[0031] The docking between the first gripper and the first docking structure is cancelled.

[0032] According to a fourth aspect of an embodiment of the present disclosure, there is provided an electronic device, including:

[0033] A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned method for retrieving items or the above-mentioned method for storing items when executing the program.

[0034] According to a fifth aspect of an embodiment of the present disclosure, a readable storage medium is provided, when instructions in the storage medium are executed by an electronic device in the above-mentioned method for retrieving an item, or the above-mentioned method for storing an item.

[0035] The embodiments of the present disclosure provide a locker, an article retrieval method, and an article storage method. By arranging an article transfer mechanism in the locker to be used for storing and retrieving articles on a lifting platform and for users respectively, the needs of delivery personnel and robots for retrieving articles at the same time and the need for rapid response during peak hours can be met. Articles can be stored and retrieved at the same time, thereby improving the efficiency of storing and retrieving articles. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the description of the embodiments of the present disclosure will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0037] Figure 1 is a structural schematic diagram of a locker provided in an embodiment of the present disclosure;

[0038] Figure 2 It is a structural schematic diagram of the movement direction of a lifting platform and a gripper provided by an embodiment of the present disclosure;

[0039] Figure 3 is a schematic diagram of a process of taking objects provided by an embodiment of the present disclosure;

[0040] Figure 4 It is a schematic diagram of a storage process provided by an embodiment of the present disclosure;

[0041] Figure 5 is a flowchart of a method for taking out an item provided by an embodiment of the present disclosure;

[0042] Figure 6 It is a flowchart of the steps of an item storage method provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the embodiments of the present disclosure.

[0044] Embodiment 1

[0045] Reference Figure 1 , showing a schematic structural diagram of a storage cabinet provided in an embodiment of the present disclosure.

[0046] like Figure 1 As shown, the locker may include: a locker body 1 and a lifting platform 2, wherein N (N is a positive integer) storage compartments 3 are provided on the locker 1, and the central portion of the locker 1 is a cavity 4 with an opening on one side formed by the shell of the locker body 1, and the lifting platform 2 can be placed in the cavity 4, and the lifting platform 2 can move along the vertical direction of the locker body 1.

[0047] The lifting platform 2 is provided with a first gripper (not shown in the figure) and a second gripper (not shown in the figure), and a carrier for holding items is placed in each storage compartment 3, and a first docking structure and a second docking structure are provided on the side of the carrier.

[0048] The first gripper can dock with the first docking structure to drive the carrier to move between the lifting platform 2 and the storage compartment 3 .

[0049] The second gripper can dock with the second docking structure to drive the carrier to move between the lifting platform 2 and the object-carrying device. In this example, the object-carrying device can be a robot, a cart, etc. Specifically, the specific type of the object-carrying device can be determined according to actual conditions, and this embodiment does not limit this.

[0050] In the above-mentioned system provided by the embodiment of the present disclosure, each storage compartment on the locker is provided with two openings, namely, a first opening and a second opening, wherein the first opening is an opening on the storage compartment facing the lifting platform, and the second opening is an opening on the storage compartment consistent with the direction of the cavity opening, and the first opening is used for the lifting platform to take out items from the storage compartment or store items in the storage compartment. The second opening is used for users and / or delivery personnel to take out items from the storage compartment or store items in the storage compartment. At the same time, compartment baffles are provided at both the first opening and the second opening, and the compartment baffles can prevent items in the storage compartment from being taken out by people, resulting in the loss of items.

[0051] Furthermore, in this embodiment, the first docking structure can be used to dock with the first gripper, and the second docking structure can be used to dock with the second gripper, so as to drive the carrier to move through the gripper. In this example, docking structures can be set on three sides of the carrier, wherein the first docking interface can be set on two opposite sides, so that the first gripper can take out items from storage compartments in different directions, or take out items from the lifting platform and store them in the storage compartments. The structure of the cross gripper can realize the process of taking out and storing items, and the action is simple and reliable, and the manufacturing cost is low.

[0052] The moving direction of the first gripper is perpendicular to the moving direction of the second gripper, so that the two grippers form a cross gripper. Figure 2 As shown, the lifting platform can move up and down along the Z direction. In this example, the lifting platform can include a linear module that provides power in the Z direction to drive the lifting platform up and down, and the transmission method of the Z module can be a screw rod or a synchronous belt.

[0053] The first gripper can move in the X direction to take out items from the storage compartment or store items on the lifting platform in the storage compartment. The second gripper can move in the Y direction to move items on the lifting platform to the loading device or move items on the loading device to the lifting platform. The transmission method of the power unit in the X and Y directions can be a screw, a synchronous belt, a connecting rod, a threaded transmission, a push rod motor, etc.

[0054] The disclosed embodiment can meet the needs of delivery personnel and robots to retrieve items at the same time and the need for rapid response during peak hours by setting an item transmission mechanism in the locker to store and retrieve items on the lifting platform and the user, respectively, and can store and retrieve items at the same time, thereby improving the efficiency of item storage and retrieval. In addition, no transmission components are required on the storage compartment and the loading device, so the whole machine has high reliability and low manufacturing cost.

[0055] In a specific implementation of the present disclosure, a first limit switch may be provided on the lifting platform, and is triggered when the vehicle reaches a specified position on the lifting platform to limit the vehicle.

[0056] In this embodiment, the first limit switch can be triggered when the carrier reaches the specified position after it moves to the lifting platform, to prompt the carrier to be in place, trigger the gripper to release the docking structure on the carrier, and instruct the other gripper to start working.

[0057] In the embodiment of the present disclosure, by setting a limit switch on the lifting platform, it is easier to detect the arrival of objects during the vehicle transmission process.

[0058] In another specific implementation of the embodiment of the present disclosure, a second limit switch may be provided on the carrier to be triggered when the carrier reaches a specified position on the carrier to limit the carrier.

[0059] In this embodiment, a limit switch is set on the loading device. When the carrier reaches a specified position on the loading device, the limit switch is triggered to indicate that the gripper and the docking structure are released, and a prompt of arrival is generated to start the next operation.

[0060] In another specific implementation of the embodiment of the present disclosure, the locker may further include: a motor, which may be connected to the lifting platform via a first transmission mechanism to drive the lifting platform to move via the first transmission mechanism.

[0061] The motor can be connected to the first gripper through the second transmission mechanism, so as to drive the first gripper to move through the second transmission mechanism.

[0062] The motor can be connected to the second gripper via a third transmission mechanism, so as to drive the second gripper to move via the third transmission mechanism.

[0063] In this embodiment, a power-off brake device (such as a power-off brake, etc.) can be provided on the motor shaft of the motor to start when the motor is powered off to prevent the lifting platform from falling when the motor is powered off, causing damage to the lifting platform.

[0064] In another specific implementation of the embodiment of the present disclosure, a limiting device is provided in the storage compartment opening to be activated when the first gripper or the second gripper is docked with the carrier.

[0065] In this embodiment, a limiting device is provided at the first opening of the storage compartment opening. When the first gripper on the lifting platform is docked with the first docking structure of the carrier in the storage compartment opening, the limiting device can be activated so that the first gripper can drive the carrier to move between the lifting platform and the storage compartment opening.

[0066] The item storage and retrieval process can be described in detail in conjunction with the following specific implementation methods.

[0067] In another specific implementation of the present disclosure, when taking out items from the Mth (M is a positive integer, and 1≤M≤N) storage compartment, the first gripper is docked with the first docking structure of the first carrier in the Mth storage compartment, and the first carrier is driven to move to the lifting platform; after the first gripper cancels the docking with the first docking structure of the first carrier, the second gripper is docked with the second docking structure of the first carrier, and the first carrier is driven to move into the carrying equipment.

[0068] For the item removal process, it can be combined Figure 3 The following description is given.

[0069] 1. The X-direction gripper (i.e., the first gripper) on the lifting platform 6 is docked with the side of the carrier 9;

[0070] 2. The X-direction gripper 7 moves the carrier 9 onto the lifting platform 6, triggering the limit switch to confirm that the carrier 9 is in place;

[0071] 3. The Y-direction gripper 8 docks with the rear of the carrier, and the X-direction gripper 7 is released;

[0072] 4. The Y-direction gripper 8 moves the carrier 9 into the robot cabin 10, triggering the limit switch to confirm that the carrier is in place;

[0073] 5. The Y-direction gripper 8 is released and moves back, completing the object-picking process.

[0074] In another specific implementation of the present disclosure, when an item is moved from a loading device to the Kth (K is a positive integer, and 1≤K≤N) storage compartment, the second gripper is docked with the second docking structure of the second carrier loaded with the item in the loading device, and the second carrier is driven to move to the lifting platform. After the second gripper is undocking with the second docking structure of the second carrier, the first gripper is docked with the first docking structure of the second carrier, and the second carrier is driven to move to the Kth locker.

[0075] For the item removal process, it can be combined Figure 4 The following description is given.

[0076] 1. The delivery robot 10 docks with the delivery station, and the rear door of the robot 10 cabin is opened;

[0077] 2. The Y-direction gripper 8 is connected to the rear of the carrier 9;

[0078] 3. The Y-direction gripper 8 moves the carrier 9 onto the lifting platform 6, triggering the limit switch to confirm that the carrier 9 is in place;

[0079] 4. The X-direction gripper 7 is docked with the side of the carrier 9, and the Y-direction gripper 8 is released;

[0080] 5. The X-direction gripper 7 sends the carrier 9 into the cabinet compartment 5, triggering the limit switch to confirm that the carrier 9 is in place, thus completing the storage process.

[0081] The locker provided by the embodiment of the present disclosure can meet the needs of delivery personnel and robots to pick up items at the same time and the need for rapid response during peak hours by arranging an item transfer mechanism in the locker to store and retrieve items for the lifting platform and the user respectively. It can also store and retrieve items at the same time, thereby improving the efficiency of item storage and retrieval.

[0082] Embodiment 2

[0083] Reference Figure 5 , shows a flowchart of a method for taking out an item provided by an embodiment of the present disclosure, and the method for taking out an item can be applied to the locker in the above-mentioned embodiment 1; M is a positive integer, 1≤M≤N such as Figure 5 As shown, the method may include the following steps:

[0084] Step 501: When taking out an item from the Mth storage compartment, a first gripper on the lifting platform is docked with a first docking structure of a carrier of the Mth storage compartment; M is a positive integer, 1≤M≤N.

[0085] In this embodiment, a plurality of storage compartment openings are provided on the locker, a cavity for accommodating a lifting platform is provided in the central portion of the locker, a first opening corresponding to the storage compartment openings is provided on the side of the cavity facing the lifting platform, and each storage compartment opening is provided with a corresponding second opening on the opening side of the cavity facing the lifting platform, and the lifting platform can move in the vertical direction of the locker.

[0086] A first gripper is provided on the lifting platform and can be used to dock with a docking structure provided on the side of the carrier in the storage compartment to drive the carrier to move.

[0087] When taking out items from the Mth storage compartment, the first gripper on the lifting platform can be used to dock with the first docking structure of the carrier in the Mth storage compartment. Specifically, when taking out items from the Mth storage compartment of the locker, the lifting platform can be controlled to move so that the plane of the lifting platform is flush with the bottom surface of the Mth storage compartment where the items are placed, thereby docking with the first docking structure of the carrier in the Mth storage compartment through the first gripper on the lifting platform.

[0088] After the first gripper on the lifting platform is docked with the first docking structure of the carrier of the Mth storage compartment, step 502 is executed.

[0089] Step 502: driving the carrier to move onto the lifting platform via the first gripper.

[0090] After the first gripper on the lifting platform is docked with the first docking structure of the carrier in the Mth storage compartment, the first gripper can be used to drive the carrier in the Mth storage compartment to move onto the lifting platform.

[0091] After the carrier is driven to move onto the lifting platform by the first gripper, step 503 is executed.

[0092] Step 503: When the carrier moves to a designated position on the lifting platform, the docking between the first gripper and the first docking structure is cancelled, and the second gripper on the lifting platform is used to dock with the second docking structure of the carrier.

[0093] In this example, the moving directions of the first gripper and the second gripper are perpendicular to each other, so that the first gripper and the second gripper form a cross gripper.

[0094] A limit switch is arranged on the lifting platform, which is triggered when the carrier is moved to the lifting platform by the first gripper and reaches a designated position on the lifting platform to limit the carrier, cancel the docking between the first gripper and the first docking structure on the carrier, and dock with the second docking structure of the carrier through the second gripper on the lifting platform.

[0095] After the second gripper on the lifting platform is docked with the second docking structure of the carrier, step 504 is performed.

[0096] Step 504: driving the carrier to move into a loading device via the second gripper.

[0097] After the second gripper on the lifting platform is docked with the second docking structure of the carrier, the carrier can be driven to move into the object carrying device by the second gripper.

[0098] Step 505: When the carrier moves to a designated position in the object-carrying device, cancel the docking between the second gripper and the second docking structure.

[0099] When the carrier moves to a designated position in the carrying device, the docking between the second gripper and the second docking structure is canceled. Specifically, a limit switch is provided in the carrying device. When the carrier moves to a designated position in the carrying device, the limit switch can be triggered to limit the carrier and cancel the docking between the second gripper and the second docking structure. At this point, the picking process is completed.

[0100] The article retrieval method provided by the embodiment of the present disclosure, by setting an article transfer mechanism in the locker to be used for storing and retrieving articles of the lifting platform and the user respectively, can meet the needs of delivery personnel and robots to retrieve articles at the same time, and the needs of rapid response during peak hours, and can store and retrieve articles at the same time, thereby improving the efficiency of storing and retrieving articles.

[0101] Embodiment 3

[0102] Reference Figure 6 , shows a flowchart of a method for storing items provided by an embodiment of the present disclosure, the method for storing items can be applied to the locker in the first embodiment, the locker comprising: a locker body and a lifting platform, the locker body is provided with N storage compartments, N is a positive integer, such as Figure 6 As shown, the method may include the following steps:

[0103] Step 601: When storing an item from a loading device to an Mth storage compartment, a second gripper on the lifting platform is used to dock with a second docking structure of a carrier in the loading device; M is a positive integer, 1≤M≤N.

[0104] In this embodiment, a plurality of storage compartment openings are provided on the locker, a cavity for accommodating a lifting platform is provided in the central portion of the locker, a first opening corresponding to the storage compartment openings is provided on the side of the cavity facing the lifting platform, and each storage compartment opening is provided with a corresponding second opening on the opening side of the cavity facing the lifting platform, and the lifting platform can move in the vertical direction of the locker.

[0105] A first gripper is provided on the lifting platform and can be used to dock with a docking structure provided on the side of the carrier in the storage compartment to drive the carrier to move.

[0106] When storing the items from the loading device into the Mth storage compartment, the second gripper on the lifting platform can be docked with the second docking structure of the carrier in the loading device.

[0107] After the second gripper on the lifting platform is docked with the second docking structure of the carrier in the object carrying device, step 602 is performed.

[0108] Step 602: Use the second gripper to drive the carrier to move onto the lifting platform.

[0109] After the second gripper on the lifting platform is docked with the second docking structure of the carrier in the object-carrying device, the carrier can be driven to move to the lifting platform by the second gripper, and then step 603 is executed.

[0110] Step 603: When the carrier moves to a designated position on the lifting platform, the docking between the second gripper and the second docking structure is cancelled, and the first gripper on the lifting platform is docked with the first docking structure of the carrier.

[0111] When the carrier moves to a designated position on the lifting platform, the docking between the second gripper and the second docking structure can be canceled, and the first gripper on the lifting platform can be docked with the first docking structure of the carrier. Specifically, a limit switch is provided on the lifting platform. When the carrier moves to a designated position on the lifting platform, the limit switch can be triggered to cancel the docking between the second gripper and the second docking structure, and the first gripper on the lifting platform can be docked with the first docking structure of the carrier.

[0112] After the first gripper on the lifting platform is docked with the first docking structure of the carrier, step 604 is performed.

[0113] Step 604: driving the carrier to move into the Mth storage compartment via the first gripper.

[0114] After the first gripper on the lifting platform is docked with the first docking structure of the carrier, the carrier can be driven by the first gripper to move into the Mth storage compartment of the locker.

[0115] Step 605: cancel the docking between the first gripper and the first docking structure.

[0116] After the carrier is completely moved into the Mth storage compartment, the docking between the first gripper and the first docking structure can be canceled, thereby completing the item storage process.

[0117] The item storage method provided by the embodiments of the present disclosure, by arranging an item transfer mechanism in the locker to be used for storing and retrieving items on the lifting platform and by users respectively, can meet the needs of delivery personnel and robots for retrieving items at the same time, as well as the need for rapid response during peak hours, and can store and retrieve items at the same time, thereby improving the efficiency of storing and retrieving items.

[0118] An embodiment of the present disclosure further provides an electronic device, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the item retrieval method or the item storage method of the aforementioned embodiment is implemented.

[0119] An embodiment of the present disclosure further provides a readable storage medium. When instructions in the storage medium are executed by a processor of an electronic device, the electronic device can execute the object retrieval method or the object storage method of the aforementioned embodiment.

[0120] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0121] The algorithms and displays provided herein are not inherently related to any particular computer, virtual system or other device. Various general purpose systems may also be used together with the teachings based thereon. According to the above description, it is apparent that the structure required for constructing such systems is. In addition, the embodiments of the present disclosure are not directed to any particular programming language either. It should be understood that the contents of the embodiments of the present disclosure described herein may be realized using various programming languages, and the description of the specific languages ​​above is intended to disclose the best mode of implementation of the embodiments of the present disclosure.

[0122] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present disclosure can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0123] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present disclosure, the various features of the embodiments of the present disclosure are sometimes grouped together into a single embodiment, figure, or description thereof. However, the disclosed method should not be interpreted as reflecting the following intention: the claimed embodiments of the present disclosure require more features than the features explicitly recited in each claim. More specifically, as reflected in the claims below, the inventive aspects lie in less than all the features of the single embodiment disclosed above. Therefore, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, with each claim itself serving as a separate embodiment of the embodiments of the present disclosure.

[0124] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and in addition they may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this manner may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.

[0125] The various component embodiments of the embodiments of the present disclosure may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the dynamic picture generation device according to the embodiments of the present disclosure. The embodiments of the present disclosure may also be implemented as a device or apparatus program for executing part or all of the methods described herein. Such a program implementing an embodiment of the present disclosure may be stored on a computer-readable medium, or may be in the form of one or more signals. Such a signal may be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0126] It should be noted that the above embodiments illustrate rather than limit the embodiments of the present disclosure, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of multiple such elements. The embodiments of the present disclosure may be implemented by means of hardware including several different elements and by means of appropriately programmed computers. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names.

[0127] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0128] The above description is only a preferred embodiment of the embodiments of the present disclosure and is not intended to limit the embodiments of the present disclosure. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the embodiments of the present disclosure should be included in the protection scope of the embodiments of the present disclosure.

[0129] The above is only a specific implementation of the embodiment of the present disclosure, but the protection scope of the embodiment of the present disclosure is not limited thereto. Any technician familiar with the technical field can easily think of changes or replacements within the technical scope disclosed by the embodiment of the present disclosure, which should be included in the protection scope of the embodiment of the present disclosure. Therefore, the protection scope of the embodiment of the present disclosure should be based on the protection scope of the claims.

Claims

1. A locker, characterized in that: The locker comprises: a locker body and a lifting platform, wherein the locker body is provided with N storage compartments, the storage compartments are provided with second openings, the second openings are used to take out items from the storage compartments or store items in the storage compartments, the central part of the locker body is a cavity with one side opening formed by the shell of the locker body, the lifting platform is placed in the cavity, the lifting platform can move along the vertical direction of the locker body, and N is a positive integer; The lifting platform is provided with a first gripper and a second gripper, a carrier for holding articles is placed in each storage compartment, a first docking structure and a second docking structure are provided on the side of the carrier, and a moving direction of the first gripper is perpendicular to a moving direction of the second gripper; The first gripper is docked with the first docking structure to drive the carrier to move between the lifting platform and the storage compartment; The second gripper is docked with the second docking structure to drive the carrier to move between the lifting platform and the loading device.

2. The locker according to claim 1, characterized in that: A first limit switch is arranged on the lifting platform, which is triggered when the carrier reaches a designated position on the lifting platform to limit the carrier.

3. The locker according to claim 1, characterized in that: A second limit switch is provided on the carrier device to be triggered when the carrier reaches a designated position on the carrier device, so as to limit the carrier.

4. The locker according to claim 1, characterized in that: The locker further comprises: a motor, The motor is connected to the lifting platform through a first transmission mechanism, so as to drive the lifting platform to move through the first transmission mechanism; The motor is connected to the first gripper through a second transmission mechanism, so as to drive the first gripper to move through the second transmission mechanism; The motor is connected to the second gripper through a third transmission mechanism, so as to drive the second gripper to move through the third transmission mechanism.

5. The locker according to claim 4, characterized in that: A power-off brake device is arranged on the motor shaft of the motor so as to start when the motor is powered off.

6. The locker according to claim 1, characterized in that: A limiting device is arranged in the storage compartment to be activated when the first gripper or the second gripper is docked with the carrier.

7. The locker according to claim 1, characterized in that: When taking out items from the Mth storage compartment, the first gripper is docked with the first docking structure of the first carrier in the Mth storage compartment, and the first carrier is driven to move to the lifting platform; after the first gripper is undocking with the first docking structure of the first carrier, the second gripper is docked with the second docking structure of the first carrier, and the first carrier is driven to move into the carrying device, M is a positive integer, and 1≤M≤N.

8. The locker according to claim 1, characterized in that: When moving an item from the loading device to the Kth storage compartment, the second gripper is docked with the second docking structure of the second carrier loaded with the item in the loading device, and the second carrier is driven to move to the lifting platform; after the second gripper is undocking with the second docking structure of the second carrier, the first gripper is docked with the first docking structure of the second carrier, and the second carrier is driven to move to the Kth storage compartment, where K is a positive integer and 1≤K≤N.

9. A method for taking out articles, applied to the locker according to any one of claims 1 to 8, characterized in that: The locker comprises: a locker body and a lifting platform, the locker body is provided with N storage compartments, N is a positive integer, and the method comprises: When taking out items from M storage compartments, the first gripper on the lifting platform is docked with the first docking structure of the carrier of the Mth storage compartment; M is a positive integer, 1≤M≤N; The carrier is driven to move onto the lifting platform by the first gripper; When the carrier moves to a designated position on the lifting platform, the first gripper is disconnected from the first docking structure, and the second gripper on the lifting platform is connected to the second docking structure of the carrier; The carrier is driven to move into the object carrying device by the second gripper; When the carrier moves to a designated position in the object-carrying device, the docking between the second gripper and the second docking structure is cancelled.

10. An article storage method, applied to the locker according to any one of claims 1 to 8, characterized in that: The locker comprises: a locker body and a lifting platform, the locker body is provided with N storage compartments, N is a positive integer, and the method comprises: When storing the item from the loading device to the Mth storage compartment, the second gripper on the lifting platform is docked with the second docking structure of the carrier in the loading device; M is a positive integer, 1≤M≤N; The carrier is driven to move onto the lifting platform by the second gripper; When the carrier moves to a designated position on the lifting platform, the docking between the second gripper and the second docking structure is cancelled, and the first gripper on the lifting platform is docked with the first docking structure of the carrier; The carrier is driven to move into the Mth storage compartment by the first gripper; The docking between the first gripper and the first docking structure is cancelled.

11. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for retrieving an item according to claim 9 or the method for storing an item according to claim 10 is implemented.

12. A readable storage medium, characterized in that: When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the object retrieval method as described in method claim 9 or the object storage method as described in claim 10.

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