Full-process unmanned self-service delivery equipment

Abstract

The application provides a full-process unmanned self-service delivery equipment, which comprises a conveying assembly, a transportation assembly, a grabbing assembly, a driving assembly and a pushing assembly. The grabbing assembly is arranged at one end of the conveying assembly and can move between a first position and a second position. The driving assembly is arranged in the grabbing assembly and is used for driving two adjacent goods to adhere to each other, so that the two adjacent goods adhere to each other. The pushing assembly is arranged below the driving assembly and in the grabbing assembly, and is used for pushing the material in the goods to the edge of the goods. The full-process unmanned self-service delivery equipment can ensure that the goods accurately fall in the specified position area, the adjacent goods can be closely loaded, and the flatness of the goods is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of material conveying, in particular to a full-process unmanned self-service delivery equipment. BACKGROUND

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

[0003] In the related art, the following problems exist in the process of unmanned self-service delivery: 1. When the claw is opened, it is easy to scratch the goods, thereby changing the falling posture of the subsequent goods, resulting in the goods cannot be accurately dropped in the specified position area. 2. In the process of simultaneous falling of adjacent goods, the repulsive force (contact force) between them causes the adjacent goods to separate, thereby failing to make the adjacent goods tightly loaded. 3. When the goods fall into the carriage, the stress of the goods cannot be released in time at the moment of falling, which easily leads to uneven goods and affects the subsequent stacking. SUMMARY

[0004] Therefore, it is necessary to provide a full-process unmanned self-service delivery equipment in view of the problems that the goods cannot be accurately dropped in the specified position area, the adjacent goods cannot be tightly loaded, and the goods are uneven.

[0005] The above-mentioned purpose is achieved by the following technical solutions:

[0006] The application discloses a full-process unmanned self-service delivery equipment, which comprises a conveying assembly used for conveying goods, a transportation assembly arranged on one side of the conveying assembly and used for transporting goods, a grabbing assembly arranged on one end of the conveying assembly and movable between a first position and a second position, wherein the grabbing assembly is located above the conveying assembly in the first position so as to grab a plurality of goods on the conveying assembly, and the grabbing assembly is located above the transportation assembly in the second position so as to convey the plurality of goods into the transportation assembly, a driving assembly arranged on the grabbing assembly and used for driving two adjacent goods to adhere to each other, and a pushing assembly arranged below the driving assembly and on the grabbing assembly and used for pushing materials in the goods to distribute on edges of the goods, wherein the full-process unmanned self-service delivery equipment has a first working state and a second working state, in the first working state, the grabbing assembly is in the first position to grab the plurality of goods, and the pushing assembly pushes the materials in the goods to move, and in the second working state, the grabbing assembly is in the second position to release the plurality of goods, and the driving assembly drives the plurality of goods to move.

[0007] Further, the driving assembly comprises a mounting seat arranged on one end of the transportation assembly and arranged on the grabbing assembly, a first plate, a first driving plate and a second plate arranged in sequence along the length direction of the mounting seat, and the first driving plate is arranged in the mounting seat, the first plate is rotatably arranged on one side of the first driving plate and located on one side of the mounting seat, and the second plate is rotatably arranged on the other side of the first driving plate and located on the other side of the mounting seat, in the first working state, the first plate, the first driving plate and the second plate are all in a horizontal state, in the second working state, the free end of the first plate moves downward, and / or the free end of the second plate moves downward.

[0008] Further, the driving assembly further comprises a second driving plate arranged in the mounting seat and above the first driving plate, the first driving plate and the second driving plate are arranged in the height direction of the mounting seat, the first driving plate and the second driving plate are movable relative to the mounting seat in the height direction of the mounting seat; a locking member arranged on the second driving plate and matched with the mounting seat, in the first working state, the grabbing assembly grabs the goods, the goods drives the second driving plate to move upward through the first driving plate, when the second driving plate moves to a preset value, the locking member is in a locked state to lock the position of the second driving plate, in the second working state, the grabbing assembly releases the goods and the locking member is in an unlocked state, the second driving plate drives the first driving plate to move downward, so that the first driving plate drives the goods to move downward.

[0009] Further, the locking member comprises a connecting member, the upper end of the connecting member is arranged on the second driving plate and the connecting member is movable relative to the first driving plate in the height direction of the mounting seat, the cross-sectional area of the outer circumferential surface of the upper end of the connecting member gradually decreases in the direction adjacent to the first driving plate, the lower end of the connecting member is arranged on the first driving plate and is movable relative to the first driving plate in the height direction of the mounting seat; a first locking member and a second locking member, the first locking member and the second locking member are arranged on the second driving plate and are arranged opposite in the width direction of the mounting seat, the upper end of the connecting member is located between the first locking member and the second locking member, the inner circumferential surface of the mounting seat is provided with a plurality of locking grooves, the plurality of locking grooves are arranged in the height direction of the mounting seat, in the first working state, the goods drives the lower end of the connecting member to move upward, so that the upper end of the connecting member drives the first locking member and the second locking member to be arranged in the locking grooves to make the locking member in a locked state, in the second working state, the upper end of the connecting member moves downward, the first locking member and the second locking member move towards each other, so that the first locking member and the second locking member are separated from the locking grooves to make the locking member in an unlocked state.

[0010] Further, the driving assembly further comprises a connecting plate arranged at the lower end of the connecting member and connected with the connecting member, the connecting plate is arranged between the first driving plate and the second driving plate, and the connecting plate is movable relative to the second driving plate along the height direction of the mounting seat; a first elastic member is arranged between the connecting plate and the second driving plate, and the two ends of the first elastic member are connected with the connecting plate and the second driving plate respectively, the first elastic member has a first elastic force for driving the connecting plate and the second driving plate to move away from each other; a second elastic member is arranged between the second driving plate and the mounting seat, and the two ends of the second elastic member are connected with the second driving plate and the mounting seat respectively, the second elastic member has a second elastic force for driving the second driving plate to move downward, and the elastic modulus of the second elastic member is greater than that of the first elastic member.

[0011] Further, the outer peripheral surface of the mounting seat is provided with a first matching member, the first plate and the second plate are both provided with a second matching member, and when the first driving plate moves downward, the first matching member and the second matching member cooperate so that the free ends of the first plate and the second plate both move downward.

[0012] Further, the first matching member is a thread arranged on the outer peripheral surface of the lower end of the mounting seat, and the second matching member is a threaded rod, the first plate and the second plate are both connected with the first driving plate through the threaded rod, so that when the first driving plate moves along the height direction of the mounting seat, the threaded rod and the thread cooperate to drive the first plate and the second plate to rotate through the threaded rod.

[0013] Further, the pushing assembly comprises a plurality of pushing members, the plurality of pushing members are all rotatably arranged below the driving assembly and are arranged at equal intervals along the circumferential direction of the driving assembly, the pushing members extend from the lower end surface of the driving assembly toward a direction away from the driving assembly and are inclined from the inside of the driving assembly toward the outside of the driving assembly, when the grabbing assembly grabs the goods, the pushing members rotate toward the direction adjacent to the driving assembly, so as to push the materials in the goods to be distributed on the edge of the goods.

[0014] Further, the plurality of pushing members comprises a first pushing member, a second pushing member, a third pushing member and a fourth pushing member, the first pushing member, the second pushing member, the third pushing member and the fourth pushing member are all rotatably arranged on the lower end surface of the driving assembly, and the first pushing member, the second pushing member, the third pushing member and the fourth pushing member are arranged at equal intervals along the circumferential direction of the driving assembly.

[0015] Further, the grabbing assembly comprises a mechanical arm, a first grabbing piece and a second grabbing piece, the mechanical arm is arranged at one end of the conveying assembly and the mechanical arm is rotatable between the first position and the second position, the first grabbing piece and the second grabbing piece are both arranged on the mechanical arm and are oppositely arranged at intervals, so that the mechanical arm drives the first grabbing piece and the second grabbing piece to rotate, and the first grabbing piece and the second grabbing piece can be opened or closed to grab or release the goods, and the driving assembly and the pushing assembly are both arranged between the first grabbing piece and the second grabbing piece.

[0016] The application has the advantages that: the driving assembly is arranged to tightly fit a plurality of goods together, ensures that the goods will not be separated during falling, enables the goods to be tightly loaded after being transferred into the conveying assembly, and ensures that the goods have an initial speed when being released, so that the falling posture of the goods will not be changed, the goods can be accurately dropped in the specified position area, the pushing assembly is arranged to ensure the flatness of the goods, improves the subsequent stacking efficiency, and improves the working efficiency of the whole-process unmanned self-service goods delivery equipment. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 FIG. 1 is a structural schematic view of a whole-process unmanned self-service goods delivery equipment according to an embodiment of the application;

[0018] Figure 2 FIG. 2 is a structural schematic view of a driving assembly of the whole-process unmanned self-service goods delivery equipment according to an embodiment of the application;

[0019] Figure 3 FIG. 3 is an exploded view of the driving assembly of the whole-process unmanned self-service goods delivery equipment according to an embodiment of the application;

[0020] Figure 4 FIG. 4 is an exploded view of a first plate, a first driving plate and a second plate of the whole-process unmanned self-service goods delivery equipment according to an embodiment of the application;

[0021] Figure 5 FIG. 5 is a front view of the driving assembly of the whole-process unmanned self-service goods delivery equipment according to an embodiment of the application;

[0022] Figure 6 FIG. 6 is a sectional view along A-A of the whole-process unmanned self-service goods delivery equipment according to an embodiment of the application; Figure 5

[0023] Figure 7 FIG. 7 is a structural schematic view of a first driving plate and a pushing piece of the whole-process unmanned self-service goods delivery equipment according to an embodiment of the application;

[0024] Figure 8 FIG. 8 is a structural schematic view of the driving assembly and the grabbing assembly of the whole-process unmanned self-service goods delivery equipment in a first working state according to an embodiment of the application;​

[0025] Figure 9 Structure schematic view of driving assembly and grabbing assembly of full-process unmanned self-service delivery equipment in a second working state according to an embodiment of the present application;

[0026] Figure 10 Working schematic view of driving assembly of full-process unmanned self-service delivery equipment according to an embodiment of the present application;

[0027] Figure 11 Structure schematic view of driving assembly of full-process unmanned self-service delivery equipment according to an embodiment of the present application; Figure 3 Enlarged view of part B.

[0028] Wherein:

[0029] 100, full-process unmanned self-service delivery equipment;

[0030] 110, conveying assembly;

[0031] 120, transportation assembly;

[0032] 130, grabbing assembly; 131, mechanical arm; 132, first grabbing piece; 133, second grabbing piece;

[0033] 140, driving assembly; 141, mounting seat; 1411, locking groove; 1412, first matching piece; 1413, second matching piece; 142, first plate; 143, first driving plate; 1431, recess; 144, second plate; 145, second driving plate; 1451, sliding groove; 146, locking piece; 1461, connecting piece; 1462, first locking piece; 1463, second locking piece; 1464, one-way barb;

[0034] 147, first elastic piece; 148, second elastic piece; 149, connecting plate;

[0035] 150, pushing assembly; 151, pushing piece; 1511, first pushing piece; 1512, second pushing piece; 1513, third pushing piece; 1514, fourth pushing piece; 160, goods. DETAILED DESCRIPTION

[0036] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to embodiments and in conjunction with the drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0037] The serial numbers of components in this document, such as "first", "second", etc., are only used to distinguish the described objects, and do not have any sequence or technical meaning. In the description of the present application, it should be understood that the terms "connect", "couple" include direct and indirect connections (couplings) unless otherwise specified. In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0038] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0039] As shown in Figures 1-10 , the embodiment of the present application provides a full-process unmanned self-service delivery equipment 100, which includes a conveying assembly 110, a transportation assembly 120, a grabbing assembly 130, a driving assembly 140 and a pushing assembly 150.

[0040] The conveying assembly 110 is used for conveying goods 160. Specifically, as shown in Figure 1 , the conveying assembly 110 can be any one of a belt conveyor, a roller conveyor or a chain conveyor, and the goods 160 can be transported in the front-back direction by the conveying assembly 110.

[0041] The transportation assembly 120 is arranged on one side of the conveying assembly 110, and the transportation assembly 120 is used for transporting the goods 160. Specifically, as shown in Figure 1 , the transportation assembly 120 can be a conveying vehicle and is located on the right side of the transportation assembly 120, and the transportation assembly 120 can transport the goods 160 to the destination.

[0042] The grabbing component 130 is arranged at one end of the conveying component 120 and can move between a first position and a second position. In the first position, the grabbing component 130 is arranged above the conveying component 110 to grab the plurality of goods 160 on the conveying component 110. In the second position, the grabbing component 130 is arranged above the conveying component 120 to convey the plurality of goods 160 into the conveying component 120. Specifically, as shown in Figure 1 the grabbing component 130 is arranged at the rear side of the conveying component 120. In the first position, the grabbing component 130 is arranged above the conveying component 110 to grab the plurality of goods 160 on the conveying component 110 (the following embodiments all take the example that the grabbing component 130 can grab three goods 160 to specifically describe the whole process of the unmanned self-service delivery equipment 100). In the second position, the grabbing component 130 is arranged above the conveying component 120, and the grabbing component 130 places the goods 160 in the conveying component 120, so that the goods 160 on the conveying component 110 can be transferred to the conveying component 120 by the grabbing component 130.

[0043] The driving component 140 is arranged on the grabbing component 130 and is used to drive two adjacent goods 160 to adhere to each other. Specifically, as shown in Figure 1 the driving component 140 is arranged on the grabbing component 130, and the driving component 140 can drive the plurality of goods 160 to adhere to each other tightly, so as to prevent the repulsive force (contact force) between the goods 160 from causing the adjacent goods 160 to separate during the simultaneous falling of the adjacent goods 160, thereby enabling the adjacent goods 160 to be loaded tightly.

[0044] The pushing component 150 is arranged below the driving component 140 and on the grabbing component 130, and is used to push the material in the goods 160 to the edge of the goods 160. Specifically, as shown in Figure 4 the pushing component 150 is arranged below the driving component 140 and in the grabbing component 130. Since two of the three goods 160 can release stress on the surfaces other than the surface in contact with the middle goods 160, the two goods 160 can deform smoothly to release internal force. The middle goods 160 are in a clamped state, so it is difficult to release stress, especially to release left and right. Therefore, the pushing component 150 pushes the material in the middle goods 160 of the three goods 160 to move along the inside of the goods 160 towards the outside of the goods 160, so as to distribute the material in the goods 160 to the edge of the goods 160. When falling into the conveying component 120, the middle goods 160 can release to the midpoint position of the goods 160, so that the stress of the goods 160 is released in time at the moment of falling into the carriage, thereby ensuring the flatness of the goods 160.

[0045] The full-process unmanned self-service delivery device 100 has a first working state and a second working state. In the first working state, the grabbing assembly 130 is in a first position to grab the plurality of goods 160, and the pushing assembly 150 pushes the materials in the goods 160 to move. In the second working state, the grabbing assembly 130 is in a second position to release the plurality of goods 160, and the driving assembly 140 drives the plurality of goods 160 to move. Specifically, the first working state is a grabbing state, in which the grabbing assembly 130 is located above the conveying assembly 110 to grab the plurality of goods 160, and when the grabbing assembly 130 grabs the goods 160, the pushing assembly 150 works to push the materials in the goods 160 in the plurality of goods 160 to move. In the second working state, the grabbing assembly 130 is located above the conveying assembly 110, and when the grabbing assembly 130 releases the goods 160, the driving assembly 140 works to drive the plurality of goods 160 to move towards the goods 160 in the middle, so that the plurality of goods 160 are closely attached together.

[0046] The full-process unmanned self-service delivery device 100 of the embodiment of the present application is provided with the driving assembly 140, which can drive the plurality of goods 160 towards the inside of the goods 160 to make the plurality of goods 160 closely attached together, so as to ensure that the goods 160 will not be separated during the falling process, and the goods 160 can be closely loaded after being transferred into the conveying assembly 120. The pushing assembly 150 is provided, which can ensure that the materials in the goods 160 in the middle are uniformly distributed, so that the goods 160 in the middle can timely release the stress of the goods 160 at the moment of falling, ensuring the flatness of the goods 160 and improving the subsequent stacking efficiency, thereby improving the working efficiency of the full-process unmanned self-service delivery device 100.

[0047] In some embodiments, the grabbing assembly 130 includes a mechanical arm 131, a first grabbing piece 132 and a second grabbing piece 133. The mechanical arm 131 is arranged at one end of the conveying assembly 110 and can rotate between a first position and a second position. The first grabbing piece 132 and the second grabbing piece 133 are arranged on the mechanical arm 131 and are oppositely arranged at intervals, so that the mechanical arm 131 drives the first grabbing piece 132 and the second grabbing piece 133 to rotate. The first grabbing piece 132 and the second grabbing piece 133 can be opened or closed to grab or release the goods 160. The driving assembly 140 and the pushing assembly 150 are arranged between the first grabbing piece 132 and the second grabbing piece 133.

[0048] Specifically, as Figure 1As shown, the robotic arm 131 is located at the rear end of the conveying assembly 110. The first gripper 132 and the second gripper 133 are mounted on the robotic arm 131. The robotic arm 131 drives the first gripper 132 and the second gripper 133 to rotate in a first position and a second position. In the first position, the first gripper 132 and the second gripper 133 are in an open state and are positioned opposite the conveying assembly 110 in the vertical direction, so that the first gripper 132 and the second gripper 133 can grip multiple goods 160. In the second position, the first gripper 132 and the second gripper 133 transport the multiple goods 160 to the top of the transport assembly 120 and are positioned opposite the transport assembly 120 in the vertical direction. At this time, the first gripper 132 and the second gripper 133 are open, so that the goods 160 are transported into the transport assembly 120.

[0049] It is worth noting that the first gripper 132 and the second gripper 133 can be opened or closed by cylinders, hydraulic rods, electric push rods, etc., and these are all existing technologies. The fully unmanned self-service delivery equipment 100 of this embodiment will not be described in detail.

[0050] In some embodiments, the drive assembly 140 includes a mounting base 141, a first plate 142, a first drive plate 143, and a second plate 144.

[0051] Mounting base 141 is located at one end of the conveying assembly 110, and mounting base 141 is also located on the gripping assembly 130. Specifically, as shown... Figures 1-3 As shown, the mounting base 141 is mounted on the robotic arm 131, and the first gripper 132 and the second gripper 133 are rotatably mounted on the left and right sides of the mounting base 141.

[0052] The first plate 142, the first drive plate 143, and the second plate 144 are along the length direction of the mounting base 141 (e.g., ...). Figure 1 The first drive plate 143 is disposed in the mounting base 141, and the second plate 144 is rotatably disposed on one side of the first drive plate 143 and located on one side of the mounting base 141. The third plate 144 is rotatably disposed on the other side of the first drive plate 143 and located on the other side of the mounting base 141. In the first working state, the first plate 142, the first drive plate 143 and the second plate 144 are all in a horizontal state. In the second working state, the free end of the first plate 142 moves downward and / or the free end of the second plate 144 moves downward.

[0053] Specifically, such as Figure 2 and Figure 10As shown, the first plate 142, the first drive plate 143, and the second plate 144 are all horizontal rectangular plates, and the first plate 142, the first drive plate 143, and the second plate 144 are arranged sequentially in the front-back direction. The first drive plate 143 is located inside the mounting base 141, the first plate 142 is located outside the mounting base 141 and is rotatably connected to the front side of the first drive plate 143, and the second plate 144 is located outside the mounting base 141 and is rotatably connected to the rear side of the first drive plate 143. In the first working state, the first plate 142, the first drive plate 143, and the second plate 144 are in the same horizontal plane. In the second working state, the front end of the first plate 142 moves downward, and / or the rear end of the second plate 144 moves downward. Thus, the first plate 142 and the second plate 144 squeeze the front and rear sides of multiple goods 160, causing the goods 160 on the front side to move backward and the goods 160 on the rear side to move forward, thereby making the multiple goods 160 fit together tightly.

[0054] In some embodiments, the drive assembly 140 further includes a second drive plate 145 and a locking member 146.

[0055] The second drive plate 145 is disposed within the mounting base 141 and located above the first drive plate 143. The first drive plate 143 and the second drive plate 145 are aligned along the height direction of the mounting base 141 (e.g., ...). Figure 1 As shown, the drive plates 143 and 145 are spaced apart in the vertical direction, and both the first drive plate 143 and the second drive plate 145 can move relative to the mounting base 141 along the height direction of the mounting base 141. Specifically, as shown... Figure 3 and Figure 6 As shown, the second drive plate 145 is disposed inside the mounting base 141 and above the first drive plate 143. The second drive plate 145 and the first drive plate 143 are arranged opposite each other in the vertical direction. The second drive plate 145 is a horizontally arranged rectangular plate. Both the first drive plate 143 and the second drive plate 145 can move in the vertical direction within the mounting base 141.

[0056] Locking member 146 is disposed on the second drive plate 145 and cooperates with the mounting base 141. Locking member 146 has a locked state and an unlocked state. In the first working state, gripping component 130 grips the goods 160, and the goods 160 drives the second drive plate 145 to move upward via the first drive plate 143, so that when the second drive plate 145 moves to a preset value, locking member 146 is in the locked state to lock the position of the second drive plate 145. In the second working state, gripping component 130 releases the goods 160 and locking member 146 is in the unlocked state, and second drive plate 145 drives first drive plate 143 to move downward, so that first drive plate 143 drives goods 160 to move downward. Specifically, as shown in the figure... Figure 6As shown, the locking member 146 is arranged on the second driving plate 145 and can cooperate with the inner circumferential surface of the mounting seat 141. In the first working state, when the grabbing assembly 130 grabs the goods 160, the goods 160 can push the first driving plate 143 upward, so that the first driving plate 143 moves upward, and the first driving plate 143 drives the second driving plate 145 to move upward. When the second driving plate 145 moves to the preset height, the locking member 146 will start to be in the locked state, so that the position of the second driving plate 145 is locked, that is, the second driving plate 145 cannot move. In the second working state, when the grabbing assembly 130 releases the goods 160, the first driving plate 143 and the second driving plate 145 move downward, and the locking member 146 is in the unlocked state, so that the first driving plate 143 and the second driving plate 145 can move downward.

[0057] In some embodiments, the locking member 146 includes a connecting member 1461, a first locking member 1462, and a second locking member 1463.

[0058] The upper end of the connecting member 1461 is arranged on the second driving plate 145 and is movable relative to the first driving plate 143 along the height direction of the mounting seat 141. The cross-sectional area of the outer circumferential surface of the upper end of the connecting member 1461 gradually decreases in the direction away from the first driving plate 143. The lower end of the connecting member 1461 is arranged on the first driving plate 143 and is movable relative to the first driving plate 143 along the height direction of the mounting seat 141. Specifically, as shown in Figure 3 and Figure 6 As shown, the connecting member 1461 is a vertical rod extending in the up-down direction. The upper end of the connecting member 1461 is a circular truncated cone type with the cross-sectional area gradually increasing from top to bottom. The lower end of the connecting member 1461 is a circular rod and a flange. The flange is arranged at the lower end of the circular rod. The circular rod of the connecting member 1461 penetrates the first driving plate 143. The flange is arranged below the first driving plate 143 and can abut against the first driving plate 143. The upper end of the connecting member 1461 is arranged on the second driving plate 145. The connecting member 1461 can move in the up-down direction on the first driving plate 143 and the second driving plate 145.

[0059] The first locking member 1462 and the second locking member 1463 are both arranged on the second driving plate 145 and along the width direction of the mounting seat 141 (as shown in Figure 1The upper end of the connecting piece 1461 is located between the first locking piece 1462 and the second locking piece 1463, the inner circumferential surface of the mounting seat 141 is provided with a plurality of locking grooves 1411, the plurality of locking grooves 1411 are spaced apart along the height direction of the mounting seat 141, in the first working state, the lower end of the connecting piece 1461 is driven by the goods 160 to move upward, so that the upper end of the connecting piece 1461 drives the first locking piece 1462 and the second locking piece 1463 to be arranged in the locking grooves 1411, so that the locking piece 146 is in the locked state, in the second working state, the upper end of the connecting piece 1461 moves downward, the first locking piece 1462 and the second locking piece 1463 move toward each other, so that the first locking piece 1462 and the second locking piece 1463 are separated from the locking grooves 1411, so that the locking piece 146 is in the unlocked state.

[0060] Specifically, as shown in Figure 3 、 Figure 6 、 Figure 8 and Figure 9 , the first locking piece 1462 and the second locking piece 1463 can be horizontal rectangular plates, the upper end of the second driving plate 145 is provided with a sliding groove 1451 extending in the left-right direction, the first locking piece 1462 and the second locking piece 1463 are slidably arranged in the sliding groove 1451, the plurality of locking grooves 1411 include a plurality of first locking grooves and a plurality of second locking grooves, the plurality of first locking grooves are arranged on the left side plate of the mounting seat 141 and are equally spaced apart in the up-down direction, the plurality of second locking grooves are arranged on the right side plate of the mounting seat 141 and are equally spaced apart in the up-down direction, the upper end of the connecting piece 1461 is arranged in the sliding groove 1451, and the upper end of the connecting piece 1461 is located between the first locking piece 1462 and the second locking piece 1463, in the first working state, the lower end of the connecting piece 1461 abuts against the goods 160, the goods 160 drives the connecting piece 1461 to move upward, the upper end of the connecting piece 1461 drives the first locking piece 1462 and the second locking piece 1463 to move away from each other, the first locking piece 1462 is arranged in the first locking groove, and the second locking piece 1463 is arranged in the second locking groove, so that the locking piece 146 is locked, in the second working state, the grabbing assembly 130 releases the goods 160, because the middle part of the goods 160 starts to be concave downward, the connecting piece 1461 starts to move downward, the lower end of the connecting piece 1461 moves downward, the first locking piece 1462 and the second locking piece 1463 start to move close to each other, so that the first locking piece 1462 and the second locking piece 1463 are separated from the first locking groove and the second locking groove respectively, so that the locking piece 146 is in the unlocked state.

[0061] In some embodiments, as Figure 11As shown, the locking member 146 further comprises a plurality of one-way ratchets 1464, each of which has a lower surface in the form of an inclined surface structure to enable the first locking member 1462 and the second locking member 1463 to move upward along the inclined surface structure of the one-way ratchets 1464 without obstruction, but unable to move downward, and the plurality of one-way ratchets 1464 are arranged in the mounting seat 141 in the up-down direction, and adjacent two one-way ratchets 1464 define a locking slot, and in the locked state, the first locking member 1462 and the second locking member 1463 are arranged in the adjacent two one-way ratchets 1464.

[0062] In some embodiments, the driving assembly 140 further comprises a connecting plate 149, a first elastic member 147 and a second elastic member 148.

[0063] The connecting plate 149 is arranged at the lower end of the connecting member 1461 and connected with the connecting member 1461, and the connecting plate 149 is arranged between the first driving plate 143 and the second driving plate 145, and the connecting plate 149 is movable relative to the second driving plate 145 in the height direction of the mounting seat 141. Specifically, as shown in Figure 3 The connecting plate 149 is a horizontal plate, and the lower end of the connecting member 1461 passes through the connecting plate 149 and is arranged on the first driving plate 143, and the connecting plate 149 is connected with the lower end of the connecting member 1461, so that the connecting plate 149 and the connecting member 1461 form an integral whole.

[0064] The first elastic member 147 is arranged between the connecting plate 149 and the second driving plate 145, and the two ends of the first elastic member 147 are connected with the connecting plate 149 and the second driving plate 145 respectively, and the first elastic member 147 has a first elastic force for driving the connecting plate 149 and the second driving plate 145 away from each other. Specifically, as shown in Figure 3 The first elastic member 147 is a spring, and the two ends of the first elastic member 147 are arranged between the connecting plate 149 and the second driving plate 145 and connected with the connecting plate 149 and the second driving plate 145 respectively, and in the first working state and the second working state, the first elastic member 147 is in a compressed state, and the first elastic member 147 can drive the connecting plate 149 and the second driving plate 145 away from each other, so that the first elastic member 147 drives the connecting member 1461 to move in the up-down direction through the connecting plate 149.

[0065] The second elastic member 148 has a second elastic force for driving the second driving plate 145 to move downward, and the elastic modulus of the second elastic member 148 is greater than the elastic modulus of the first elastic member 147. Specifically, as shown in Figure 3As shown, the second elastic member 148 is a spring, and the second elastic member 148 is arranged between the second driving plate 145 and the mounting seat 141, and the two ends of the second elastic member 148 are connected with the second driving plate 145 and the mounting seat 141 respectively, and the second elastic member 148 is in a compressed state in the first working state and the second working state, and the second elastic member 148 can drive the second driving plate 145 to move downward, and the elastic modulus of the second elastic member 148 is greater than that of the first elastic member 147, so that in the first working state, the first elastic member 147 is compressed first and the second elastic member 148 is not compressed or has a small deformation, and the first driving plate 143 moves upward first, and when the first driving plate 143 moves to a certain height, the second elastic member 148 starts to compress to make the second driving plate 145 move upward.

[0066] When the goods 160 falls at an initial speed of 0 m / s, the falling state of the goods 160 is easy to change, which causes the falling posture of the goods 160 to change, and further causes the goods 160 to not accurately fall in the specified position area, so in the second working state, the first grabbing member 132 and the second grabbing member 133 release the goods 160 and the locking member 146 is unlocked, and the elastic force of the first elastic member 147 and the second elastic member 148 can be applied to the first driving plate 143, and through the first driving plate 143 applied to the goods 160, when the goods 160 falls into the transportation assembly 120, the goods 160 can have a certain initial speed to fall, so that the goods 160 falls in a vertical state to ensure the falling point position.

[0067] It should be noted that the first locking member 1462 and the second locking member 1463 can also be driven by an elastic member, for example, a tension spring (not shown in the figure) is arranged between the first locking member 1462 and the second locking member 1463 to ensure that the first locking member 1462 and the second locking member 1463 always have elastic force to move relative to each other. Alternatively, the first locking member 1462 and the second locking member 1463 are both magnetic members, and the magnetic force of the two causes them to always move close to each other.

[0068] In some embodiments, the outer circumferential surface of the mounting seat 141 is provided with a first matching member 1412, and the first plate 142 and the second plate 144 are both provided with a second matching member 1413, and when the first driving plate 143 moves downward, the first matching member 1412 and the second matching member 1413 cooperate to make the free ends of the first plate 142 and the second plate 144 move downward. Specifically, as shown in FIG. 6, the first plate 142 and the second plate 144 are both provided with a second matching member 1413, and the outer circumferential surface of the mounting seat 141 is provided with a first matching member 1412, and when the first driving plate 143 moves downward, the first matching member 1412 and the second matching member 1413 cooperate to make the free ends of the first plate 142 and the second plate 144 move downward. Figure 2 and Figure 3As shown, the front side of the mounting base 141 and the rear side of the mounting base 141 are provided with first matching members 1412, and the first plate 142 and the first driving plate 143 and the second plate 144 and the first driving plate 143 are provided with second matching members 1413. In the second working state, when the first driving plate 143 moves downward, the first matching members 1412 and the second matching members 1413 match, so that the front side of the first plate 142 and the rear side of the second plate 144 move downward to drive the plurality of goods 160 to move towards the middle goods 160.

[0069] In some embodiments, the first matching members 1412 are threads provided on the outer circumferential surface of the lower end of the mounting base 141, and the second matching members 1413 are threaded rods. The first plate 142 and the second plate 144 are connected to the first driving plate 143 through the threaded rods, so that when the first driving plate 143 moves along the height direction of the mounting base 141, the threaded rods and the threads match to drive the first plate 142 and the second plate 144 to rotate through the threaded rods. Specifically, as shown, Figures 2-4 The threads are arranged on the front side of the mounting base 141 and the rear side of the mounting base 141 in the up-down direction, and the number of the threaded rods is two. One of the threaded rods is arranged through the first plate 142 and the first driving plate 143 and can drive the first plate 142 to rotate, and the other threaded rod is arranged through the second plate 144 and the first driving plate 143 and can drive the second plate 144 to rotate. In the first working state, the first elastic member 147 and the second elastic member 148 are contracted, and the second matching members 1413 are located at the upper end of the first matching members 1412. The first plate 142 and the second plate 144 are in a horizontal state under the action of the first matching members 1412 and the second matching members 1413. In the second working state, the first elastic member 147 and the second elastic member 148 are elongated, the first driving plate 143 moves downward to drive the second matching members 1413 to move downward, the first matching members 1412 and the second matching members 1413 match to drive the second matching members 1413 to rotate, thereby driving the first plate 142 and the second plate 144 to rotate.

[0070] It is worth noting that a torsional spring can be arranged between the threaded rod and the first plate 142, the torsional spring is arranged through the threaded rod and the two ends of the torsional spring are connected to the first plate 142 and the threaded rod, so that the threaded rod drives the torsional spring to rotate, the torsional spring drives the first plate 142 to rotate, and / or a torsional spring can be arranged between the threaded rod and the second plate 144, the torsional spring is arranged through the threaded rod and the two ends of the torsional spring are connected to the second plate 144 and the threaded rod, so that the threaded rod drives the torsional spring to rotate, the torsional spring drives the second plate 144 to rotate.

[0071] In some embodiments, the pushing assembly 150 comprises a plurality of pushing members 151, each of which is rotatably arranged below the driving assembly 140 and spaced along the circumference of the driving assembly 140, the pushing member 151 extends from the lower end of the driving assembly 140 towards the direction away from the driving assembly 140 and is inclined from the inside of the driving assembly 140 towards the outside of the driving assembly 140, when the grabbing assembly 130 grabs the goods 160, the pushing member 151 rotates towards the direction adjacent to the driving assembly 140 so as to push the materials in the goods 160 to the edge of the goods 160. Specifically, as shown in Figures 4-6 each pushing member 151 comprises a connecting rod and a pushing rod, the connecting rod is arranged obliquely towards the edge of the first driving plate 143, the upper end of the connecting rod is rotatably connected with the lower end of the first driving plate 143, and the pushing rod is horizontally arranged at the other end of the connecting rod, so as to rotate through the connecting rod to drive the pushing rod to move on the upper surface of the goods 160 to push the materials, the pushing members 151 are equally spaced along the circumference of the first driving plate 143, thereby facilitating the movement of the materials from the inside to the outside, so that the central materials in the goods 160 are uniformly moved from the inside to the outside of the goods 160, avoiding the deformation of the goods 160 caused by internal stress, and the plurality of pushing members 151 enables the materials to be effectively pushed from various directions, improving the working efficiency of the pushing assembly 150.

[0072] It is worth noting that a torsional spring is arranged between the pushing member 151 and the first driving plate 143, when the pushing member 151 pushes the materials, the pushing member 151 rotates to drive the torsional spring to twist and store energy, when the materials are separated from the pushing member 151, the torsional spring drives the pushing member 151 to rotate to the initial position.

[0073] In some embodiments, the plurality of pushing members 151 comprises a first pushing member 1511, a second pushing member 1512, a third pushing member 1513 and a fourth pushing member 1514, each of which is rotatably arranged on the lower end surface of the driving assembly 140, and the first pushing member 1511, the second pushing member 1512, the third pushing member 1513 and the fourth pushing member 1514 are equally spaced along the circumference of the driving assembly 140. Specifically, as shown in Figure 7 since the outer contour of the goods 160 is a cuboid with four corners, the first pushing member 1511, the second pushing member 1512, the third pushing member 1513 and the fourth pushing member 1514 are arranged to push the materials in the goods 160 to the four corners, ensuring that the force distribution in each direction is uniform when the materials are pushed.

[0074] In some embodiments, the lower end surface of the first driving plate 143 is provided with a plurality of grooves 1431, the plurality of grooves 1431 are arranged equidistantly along the circumference of the first driving plate 143, each groove 1431 is arranged one-to-one with a pushing piece 151, one end of the pushing piece 151 is arranged in the groove 1431, the other end of the pushing piece 151 extends out of the groove 1431 so as to push the material, in the first working state, when the grabbing assembly 130 grabs the goods 160, the pushing piece 151 can be rotated into the groove 1431 to prevent the pushing piece 151 from interfering with the goods 160.

[0075] The following is a detailed description of the working process of the full-process unmanned self-service delivery equipment 100 according to the accompanying drawings of the specification: Figures 1-11 The working process of the full-process unmanned self-service delivery equipment 100 of the embodiment of the application is specifically described as follows:

[0076] The clamping stage:

[0077] 1. Before starting clamping, the first grabbing piece 132 and the second grabbing piece 133 are in an open state, ready to clamp the goods 160.

[0078] 2. The mechanical arm 131 controls the grabbing assembly 130, the driving assembly 140 and the pushing assembly 150 to move downward as a whole until the pushing piece 151 contacts the goods 160. The pushing piece 151 starts to overcome the torsional spring and pushes the granular material in the goods 160 to the four corners, so that the material accumulates at the four corners, and the four edges are in a relatively spacious state.

[0079] 3. As the grabbing assembly 130, the driving assembly 140 and the pushing assembly 150 continue to descend, the goods 160 starts to contact the lower end of the connecting piece 1461 and pushes the connecting piece 1461 to move upward. Since the second elastic piece 148 is relatively large in elasticity, during the upward movement of the connecting piece 1461, the second elastic piece 148 remains basically unchanged, and the second elastic piece 148 continues to descend with the mounting seat 141.

[0080] 4. The lower bottom surface of the connecting piece 1461 abuts against the bottom surface of the first driving plate 143, at this time the upper surface of the goods 160 abuts against the first driving plate 143, which can drive the connecting piece 1461 to move upward to press the first locking piece 1462 and the second locking piece 1463 away from each other.

[0081] 5. As the mounting base 141 continues to descend, the first locking member 1462 and the second locking member 1463 are fully engaged in the first locking slot and the second locking slot respectively (in other words, the first locking member 1462 and the second locking member 1463 can move upwards along the first locking slot and the second locking slot, but cannot move downwards), thereby preventing the first plate 142 and the second plate 144 from rotating. The mounting base 141 continues to descend, and at this time, the first elastic member 147 is compressed to the limit, and the first driving plate 143 and the second driving plate 145 no longer move relative to each other. At this time, the second elastic member 148 begins to compress, and the first driving plate 143 and the second driving plate 145 begin to move closer to each other. At this time, the downward force generated by the second elastic member 148 after being stored is transferred to the first locking slot and the second locking slot through the first locking member 1462 and the second locking member 1463, that is, the first driving plate 143 does not exert a downward pressure on the second driving plate 145.

[0082] 6. After the mounting base 141 descends to the designated position, the first gripping member 132 and the second gripping member 133 are controlled to rotate to the Figure 8 state, completing the clamping action.

[0083] The placing stage:

[0084] 7. Start to place the goods 160 into the transportation assembly 120. In the initial stage of lowering the goods 160, as the first gripping member 132 and the second gripping member 133 are tilted, the goods 160 will assume the Figure 9 state. Due to the relative sagging of the middle part of the goods 160, the connecting member 1461 can easily move downwards under the action of the first elastic member 147. As the connecting member 1461 moves downwards, the first locking member 1462 and the second locking member 1463 begin to move closer to each other, and then the first locking member 1462 and the second locking member 1463 disengage from the cooperation with the first locking slot and the second locking slot. At this time, the force of the second elastic member 148 acts on the second driving plate 145, and until the second driving plate 145 descends to the lowest point relative to the first driving plate 143, the force of the second elastic member 148 fully acts on the first driving plate 143 and the second driving plate 145. Indirectly acting on the goods 160 through the first driving plate 143 and the second driving plate 145, the pressure between the first driving plate 143 and the goods 160 increases, and the friction between the goods 160 and the first gripping member 132 and the second gripping member 133 increases, which can effectively reduce the situation that the middle part of the goods 160 further collapses as the first gripping member 132 and the second gripping member 133 are further tilted.

[0085] 8. With the downward movement of the first driving plate 143, the first plate 142 and the second plate 144 are driven to move downward synchronously. The threaded rod is in threaded engagement during the downward movement of the first plate 142 and the second plate 144, so that the threaded rod rotates. Through the torsion spring between the threaded rod and the first plate 142 and the second plate 144, the first plate 142 and the second plate 144 are driven to rotate, so that the two first plate 142 and the second plate 144 appear the "8" effect as shown in Figure 10 The three goods 160 are also allowed to fall in the "8" state, and the indirect contact of the three goods 160 is made more closely through the inclination of the first plate 142 and the second plate 144. When the three goods 160 fall on the transportation assembly 120, the mutual contact state can still be maintained, the friction between the goods 160 is increased, the stability of subsequent stacking is ensured, and the stability of the goods 160 in the subsequent transportation process is also ensured.

[0086] 9. Goods 160 internal deformation space: in Figure 8 During clamping, the goods 160 will not appear in the "8" state because the bottom of the goods 160 is always in contact with the conveying assembly 110. Only when the goods 160 are lowered, the bottom of the goods 160 is not supported, and the goods 160 will change. At the same time, the pushing member 151 initially pushes the materials in the goods 160 to the four corners, and the four edges are in a relatively spaced state. So that at the moment when the goods 160 fall on the transportation assembly 120, there is a deformed space inside, which ensures the close contact of the goods 160 and also allows the goods 160 to deform without breaking.

[0087] In summary, through the action of a series of mechanical structures, elastic members and torsion springs, the stable clamping and placement of the goods 160 are realized. During clamping, through the action of the pushing member 151 and the connecting member 1461, the materials are redistributed inside the goods 160, thereby ensuring the stability of the goods 160 during clamping and placement. During placement, through the linkage of the first driving plate 143 and the first plate 142 and the second plate 144, the goods 160 can be in close contact on the transportation assembly 120, thereby ensuring the stability of the stacking and the safety during transportation.

[0088] The technical features of the above embodiments can be combined in any manner. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present disclosure.

[0089] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, several modifications and improvements can be made, which are within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A full-process unmanned self-service delivery device, characterized in that, The full-process unmanned self-service delivery equipment comprises a conveying assembly for conveying goods, a transportation assembly arranged at one side of the conveying assembly for transporting the goods, a grabbing assembly arranged at one end of the conveying assembly and movable between a first position and a second position, in the first position, the grabbing assembly is located above the conveying assembly to grab a plurality of goods on the conveying assembly, in the second position, the grabbing assembly is located above the transportation assembly to deliver the plurality of goods into the transportation assembly, a driving assembly arranged on the grabbing assembly for driving two adjacent goods to adhere to each other, and a pushing assembly arranged below the driving assembly and on the grabbing assembly for pushing the material in the goods to be distributed at the edge of the goods. The driving assembly comprises a mounting seat arranged at one end of the transportation assembly and arranged on the grabbing assembly, a first plate, a first driving plate and a second plate arranged in sequence along the length direction of the mounting seat and the first driving plate arranged in the mounting seat, the first plate being rotatably arranged at one side of the first driving plate and located at one side of the mounting seat, and the second plate being rotatably arranged at the other side of the first driving plate and located at the other side of the mounting seat, in the first working state, the first plate, the first driving plate and the second plate are all in a horizontal state, in the second working state, the free end of the first plate moves downward, and / or the free end of the second plate moves downward. The second driving plate is arranged above the first driving plate along the height direction of the mounting seat, the first driving plate and the second driving plate are arranged in a spaced manner along the height direction of the mounting seat, and the first driving plate and the second driving plate are both movable relative to the mounting seat along the height direction of the mounting seat. The locking member is arranged on the second driving plate and cooperates with the mounting seat, and comprises a connecting member, an upper end portion of the connecting member being arranged on the second driving plate and movable relative to the first driving plate along the height direction of the mounting seat, a cross-sectional area of an outer peripheral surface of the upper end portion of the connecting member gradually decreasing in a direction away from the first driving plate, a lower end portion of the connecting member being arranged on the first driving plate and movable relative to the first driving plate along the height direction of the mounting seat, a first locking member and a second locking member both arranged on the second driving plate and arranged in a spaced manner along the width direction of the mounting seat, the upper end portion of the connecting member being located between the first locking member and the second locking member, and an inner peripheral surface of the mounting seat being provided with a plurality of locking grooves arranged in a spaced manner along the height direction of the mounting seat. In the first working state, the lower end portion of the connecting member moves upward to drive the upper end portion of the connecting member to drive the first locking member and the second locking member to be arranged in the locking grooves so that the locking members are in a locked state, and in the second working state, the upper end portion of the connecting member moves downward, the first locking member and the second locking member move towards each other, and the first locking member and the second locking member are both separated from the locking grooves so that the locking members are in an unlocked state. ​ ​ ​ ​ ​ ​ ​ ​ The connecting plate is arranged at the lower end of the connecting member and connected with the connecting member, and is arranged between the first driving plate and the second driving plate and is movable relative to the second driving plate along the height direction of the mounting seat; The first elastic member is arranged between the connecting plate and the second driving plate and has two ends connected with the connecting plate and the second driving plate respectively, and has a first elastic force to drive the connecting plate and the second driving plate to move away from each other; The second elastic member is arranged between the second driving plate and the mounting seat and has two ends connected with the second driving plate and the mounting seat respectively, and has a second elastic force to drive the second driving plate to move downward, and the elastic modulus of the second elastic member is greater than that of the first elastic member.

2. The full-process unmanned self-packing shipping device according to claim 1, characterized in that, The outer peripheral surface of the mounting seat is provided with a first matching member, and the first plate and the second plate are each provided with a second matching member, and when the first driving plate moves downward, the first matching member and the second matching member cooperate to allow the free ends of the first plate and the second plate to move downward.

3. The full-process unmanned self-packing shipping device according to claim 2, characterized in that, The first matching member is a screw arranged on the outer peripheral surface of the lower end of the mounting seat, and the second matching member is a threaded rod, and the first plate and the second plate are connected with the first driving plate through the threaded rod, so that when the first driving plate moves along the height direction of the mounting seat, the threaded rod and the screw thread cooperate to drive the first plate and the second plate to rotate through the threaded rod.

4. The full-process unmanned self-packing shipping device according to claim 1, characterized in that, The pushing assembly includes a plurality of pushing members, which are rotatably arranged below the driving assembly and are arranged at intervals along the circumferential direction of the driving assembly, and the pushing members extend from the lower end surface of the driving assembly toward a direction away from the driving assembly and are inclined from the inside of the driving assembly to the outside of the driving assembly, and when the grabbing assembly grabs the goods, the pushing members rotate toward the direction adjacent to the driving assembly to push the materials in the goods to the edges of the goods.

5. The full-process unmanned self-packing shipping device according to claim 4, characterized in that, The plurality of pushing members include a first pushing member, a second pushing member, a third pushing member and a fourth pushing member, which are rotatably arranged on the lower end surface of the driving assembly and are arranged at equal intervals along the circumferential direction of the driving assembly.

6. The full-process unmanned self-packing shipping apparatus according to claim 1, wherein, The grabbing assembly includes a mechanical arm, a first grabbing member and a second grabbing member, the mechanical arm is arranged at one end of the conveying assembly and is rotatable between a first position and a second position, the first grabbing member and the second grabbing member are arranged on the mechanical arm and are arranged opposite to each other, so that the mechanical arm drives the first grabbing member and the second grabbing member to rotate, the first grabbing member and the second grabbing member can be opened or closed to grab or release the goods, and the driving assembly and the pushing assembly are arranged between the first grabbing member and the second grabbing member.

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