Storage and distribution equipment and control method

Abstract

The invention discloses storage and distribution equipment and a control method. The storage and distribution equipment comprises a storage cabinet and a distribution robot. The storage cabinet comprises a cabinet body, a rotating frame assembly, a plurality of storage box units and a mechanical arm module, and the cabinet body is provided with a first goods taking window and a storage window. The rotating frame assembly is arranged in the cabinet body; the plurality of storage box units are arranged in the cabinet body and are used for storing articles; the mechanical arm module is arranged in the cabinet body and used for conveying objects in the storage box units to the first goods taking window. The meals or take-out food which can be prepared by personnel can be stored in the storage box units of the storage cabinet, the storage box units can be arranged on the rotating frame assembly by arranging the rotating frame assembly in the storage cabinet, the manipulator module conveys the meals or take-out food in the storage box units to the distribution robot, and the distribution robot conveys the meals to a destination. Automatic distribution is achieved, and the problem of disorder of a catering site is solved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent logistics, and in particular to a storage and distribution device and a control method. Background Art

[0002] With the advancement of technology, many hotels provide robot food delivery services. After customers order hotel meals or takeout orders through smart terminals such as mobile phones in their rooms, hotel service staff or deliverymen will put the prepared meals into the robot's storage bin, and the robot will deliver the meals to the door of the room. This can save customers' time going out and improve the user experience.

[0003] However, when a large number of meals need to be delivered, especially during peak meal times, multiple robots need to be set up on site to wait for hotel staff or deliverymen. The robots cannot perform other tasks during this period, making the robots inefficient and causing chaos at the meal preparation site. Summary of the invention

[0004] The present invention provides a storage and distribution device and a control method, aiming to solve the problem of confusion at a meal distribution site in the prior art.

[0005] In a first aspect, the present invention discloses a storage and delivery device, including a storage cabinet and a delivery robot; the storage cabinet includes:

[0006] A cabinet body, wherein a first pickup window and a storage window are provided on the cabinet body;

[0007] A rotating frame assembly is disposed in the cabinet, the rotating frame assembly includes a main shaft, a plurality of supporting rods, a transmission mechanism and a first motor, one end of the plurality of supporting rods is connected to the main shaft, and the transmission mechanism connects the first motor and the main shaft so that the first motor drives the main shaft to rotate;

[0008] A plurality of storage box units are arranged in the cabinet and used for storing articles, and the plurality of storage box units are arranged on the plurality of supporting rods, and the plurality of supporting rods rotate with the main shaft so that any of the storage box units is arranged relative to the storage window; and

[0009] A robot module, disposed in the cabinet, for transporting items in the storage box unit to the first pickup window;

[0010] The delivery robot includes a telescopic plate that can enter and exit the cabinet from the first pickup window, and the telescopic plate cooperates with the manipulator module to take out items from the cabinet.

[0011] In a second aspect, the present invention discloses a control method, which is applied to the storage and delivery equipment described in the first aspect, wherein the storage cabinet and the delivery robot are both communicatively connected to a terminal system, and the method comprises:

[0012] Encoding the plurality of storage box units;

[0013] Pre-establishing a table of correspondence between the cabinet entry time and the storage box unit number;

[0014] When food is placed in any of the storage box units, the cabinet entry time data and the number information of the storage box unit into which the food is placed are stored in the corresponding relationship table in descending order to obtain a corresponding relationship table;

[0015] Determining whether the distance between the delivery robot and the storage cabinet is less than a preset distance;

[0016] If the position spacing is less than the preset distance, a control instruction is sent to the first motor to control the main shaft to rotate so that the storage box unit corresponding to the number of the storage box unit in the top row of the corresponding relationship table moves to the preset position.

[0017] Beneficial effects of the present invention: The present invention discloses a storage and delivery device and a control method, wherein the storage and delivery device comprises a storage cabinet and a delivery robot; the storage cabinet comprises a cabinet body, and the cabinet body is provided with a first pickup window and a storage window;

[0018] A rotating frame assembly is disposed in the cabinet, the rotating frame assembly includes a main shaft, a plurality of supporting rods, a transmission mechanism and a first motor, one end of the plurality of supporting rods is connected to the main shaft, and the transmission mechanism connects the first motor and the main shaft so that the first motor drives the main shaft to rotate;

[0019] A plurality of storage box units are arranged in the cabinet and used for storing articles, and the plurality of storage box units are arranged on the plurality of supporting rods, and the plurality of supporting rods rotate with the main shaft so that any of the storage box units is arranged relative to the storage window; and

[0020] A robot module, disposed in the cabinet, for transporting items in the storage box unit to the first pickup window;

[0021] The delivery robot includes a telescopic plate that can enter and exit the cabinet from the first pickup window, and the telescopic plate cooperates with the manipulator module to take out items from the cabinet.

[0022] The meals or take-out food that personnel can prepare can be stored in the storage box unit of the storage cabinet. By setting a rotating rack assembly in the storage cabinet, the storage box unit can be set on the rotating rack assembly, and the telescopic plate of the delivery robot can enter the cabinet from the first pickup window. The manipulator module takes out the meals or take-out food in the storage box unit and transports them to the telescopic plate of the delivery robot at the first pickup window. The delivery robot retracts the telescopic plate, takes out the meals, and delivers the meals to the destination, thereby realizing automatic delivery and improving the problem of chaos at the meal preparation site. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0024] Figure 1 An overall structural diagram of a storage and distribution device provided by an embodiment of the present invention;

[0025] Figure 2 An overall structural diagram of a storage cabinet for a storage and distribution device provided in an embodiment of the present invention;

[0026] Figure 3 An internal structural diagram of a storage cabinet of a storage and delivery device provided in an embodiment of the present invention;

[0027] Figure 4 An internal front view of a storage cabinet of a storage and delivery device provided by an embodiment of the present invention;

[0028] Figure 5 An internal rear view of a storage cabinet of a storage and delivery device provided by an embodiment of the present invention;

[0029] Figure 6 An internal structural diagram of a cabinet of a storage and delivery device provided in an embodiment of the present invention;

[0030] Figure 7 A rear view of a rotating rack assembly of a storage and delivery device provided by an embodiment of the present invention;

[0031] Figure 8 for Figure 7 An enlarged view of a portion A1 of the rotating frame assembly shown;

[0032] Fig. 9 A structural diagram of a rotating rack assembly of a storage and delivery device provided by an embodiment of the present invention;

[0033] Fig.10 for Fig. 9 An enlarged view of a portion A2 of the rotating frame assembly shown;

[0034] Fig.11 A structural diagram of a storage box unit of a storage and delivery device provided by an embodiment of the present invention;

[0035] Fig.12 A structural diagram of a manipulator module of a storage and delivery device provided by an embodiment of the present invention;

[0036] Fig.13 Another structural diagram of the manipulator module of the storage and delivery equipment provided by the embodiment of the present invention;

[0037] Fig.14 A structural diagram of a rotating assembly of a storage and delivery device provided by an embodiment of the present invention;

[0038] Fig.15 A structural diagram of a rotating assembly, a translation assembly, and a fork plate of a storage and delivery device provided in an embodiment of the present invention;

[0039] Fig.16 Another structural diagram of the rotating assembly, the translating assembly, and the fork plate of the storage and delivery equipment provided by the embodiment of the present invention;

[0040] Fig.17 A structural diagram of a translation assembly and a fork plate of a storage and delivery device provided in an embodiment of the present invention;

[0041] Fig.18 Another structural diagram of the translation assembly and fork plate of the storage and delivery equipment provided by the embodiment of the present invention;

[0042] Fig.19 A structural diagram of a pickup door assembly of a storage and delivery device provided in an embodiment of the present invention;

[0043] Fig. 20 Another structural diagram of a pickup door assembly of a storage and delivery device provided in an embodiment of the present invention;

[0044] Fig.21 A structural diagram of a delivery robot for storage and delivery equipment provided by an embodiment of the present invention;

[0045] Fig. 22 A flow chart of a control method provided by an embodiment of the present invention;

[0046] Fig.23 Another flow chart of the control method provided by the embodiment of the present invention.

[0047] Figure numbers: 1, storage cabinet; 11, cabinet body; 111, first pick-up window; 112, storage window; 113, panel; 114, back panel; 115, side panel; 116, top panel; 117, bottom panel; 118, rotating seat; 119, middle partition; 12, rotating frame assembly; 121, support rod; 122, main shaft; 123, transmission mechanism; 1231, first sprocket; 1232, second sprocket; 1233, transmission chain; 124, first motor; 125, turntable assembly; 1251, first turntable; 1252, second turntable; 126, first transmission sensor; 127, sensor sheet; 13, storage box unit; 131, box body; 1311, step; 132, limiter; 133, second sensor; 134, tray; 1341, rib; 14, manipulator module; 141, lifting assembly; 1411, second motor; 1412, lifting screw; 1413, synchronous belt; 1414, fixing plate; 1415, round rod; 1416, anti-collision block; 1417, profile plate assembly; 1417a, fixed distance profile plate; 1417b, connecting profile plate; 1418, screw baffle; 1419, third sensor; 142, rotating assembly; 1421, mounting plate; 1422, reinforcing plate; 1423, third motor; 1424, motor fixing seat; 1425, flange disc; 1426, roller; 1427, fourth sensor; 143, translation assembly; 1431, horizontal plate; 14311, plate body; 14312, motor mounting part; 1432, fourth motor; 1433, horizontal screw rod; 1434, guide rail; 144, fork plate; 1441, screw rod connecting part; 1442, plug-in part; 1443, limit part; 1444, slider connecting part; 1445, Slider; 15. Longitudinal partition plate; 151. Second pickup window; 152. Third pickup window; 16. Horizontal partition plate; 17. Pickup door assembly; 171. Mounting frame; 172. Door panel; 173. Lining plate; 174. Fifth motor; 1741. Frame; 175. Drive rod; 176. Rocker arm; 177. Slideway; 178. Guide rod; 179. Sliding block; 17a. Sixth sensor; 17b. Seventh sensor; 18. Display screen; 2. Delivery robot; 21. Main body; 22. Telescopic plate; 23. Baffle; 24. Closing pad; 241. Boss. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0050] It should also be noted that, unless otherwise clearly specified and limited, the terms such as "installed", "connected", "connected", "fixed", "set" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. When an element is referred to as being "on" or "under" another element, the element can be "directly" or "indirectly" located on the other element, or there may be one or more intermediate elements. The terms "first", "second", "third", etc. are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", "third", etc. can explicitly or implicitly include one or more of the features. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0051] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0052] It should be further understood that the terms "and, or" used in the present description and the appended claims refer to and include any and all possible combinations of one or more of the associated listed items.

[0053] like Figures 1 to 21 As shown, the present invention discloses a storage and delivery device, which can be used for the storage and delivery of hotel meals or take-outs, and can be configured in the hotel lobby or downstairs of a residential area. Figure 1The storage and delivery equipment may include a storage cabinet 1 and a delivery robot 2. The storage cabinet 1 is used to store hotel meals or takeaways. Hotel staff or deliverymen can put the prepared meals or takeaways into the storage cabinet 1. The delivery robot 2 and the storage cabinet 1 are connected in communication with the terminal system. When the meals or takeaways are put into the storage cabinet 1, the storage cabinet 1 sends information to the terminal system, and the terminal system sends a work instruction to the delivery robot 2. After the delivery robot 2 takes the meals or takeaways, it delivers them to the corresponding destination, which can be the door of a room in a hotel or community.

[0054] Read also Figure 2 , Figure 3 , Figure 4 as well as Figure 5 The storage cabinet 1 may include a cabinet body 11, a rotating rack assembly 12, a plurality of storage box units 13 and a manipulator module 14. The cabinet body 11 has a cavity inside for arranging other components. The rotating rack assembly 12, the plurality of storage box units 13 and the manipulator module 14 are all arranged in the cabinet body 11, and the plurality of storage box units 13 are arranged on the rotating rack assembly 12 for storing items, i.e., the hotel meals or take-out items mentioned above; the storage box unit 13 can move with the state conversion of the rotating rack assembly 12, and the manipulator module 14 is used to take out the items in the storage box unit 13.

[0055] Read also Figure 1 as well as Figure 7 , the cabinet 11 is provided with a first pickup window 111 and a storage window 112; the rotating frame assembly 12 includes a main shaft 122, a plurality of support rods 121, a transmission mechanism 123 and a first motor 124, one end of the plurality of support rods 121 is connected to the main shaft 122, and the transmission mechanism 123 connects the first motor 124 and the main shaft 122, so that the first motor 124 drives the main shaft 122 to rotate; the plurality of storage box units 13 are arranged on the plurality of support rods 121, and the plurality of support rods 121 rotate with the main shaft 122, so that any of the storage box units 13 has a state of being arranged relative to the storage window 112; the manipulator module 14 is arranged in the cabinet 11, and is used to transport the items in the storage box unit 13 to the first pickup window 111; refer to Fig.21 The delivery robot 2 includes a telescopic plate 22 that can enter and exit the cabinet 11 from the first pickup window 111 , and the telescopic plate 22 cooperates with the manipulator module 14 to take out items from the cabinet 11 .

[0056] In some embodiments, the cabinet 11 is composed of a cabinet board, and the first pickup window 111 and the storage window 112 can be set on the same cabinet board or on different cabinet boards. The hotel staff or the delivery person can put the meal or takeout into the storage box unit 13 in the cabinet 11 through the storage window 112, and the delivery robot 2 takes the meal or takeout out of the cabinet 11 through the first pickup window 111. The first pickup window 111 is closer to the ground than the storage window 112, that is, the first pickup window 111 is set below the storage window 112 to adapt to the height of the delivery robot 2 and the height of the storage personnel (that is, the above-mentioned hotel staff or delivery person). Since the storage box unit 13 can move with the state conversion of the rotating frame assembly 12, any storage box unit 13 can move to the position of the storage window 112, so that the number of storage windows 112 can be set as small as possible, for example, one or two, so that the storage personnel can store items at the same position, reduce the walking distance, and improve the storage efficiency. The delivery robot 2 can also take out items from any storage box unit 13 in the cabinet 11 at the first pickup window 111, without increasing the height of the delivery robot 2 or setting a lifting device on the delivery robot 2, thereby reducing the size of the delivery robot 2 as much as possible and reducing the possibility of the delivery robot 2 colliding with other objects during the displacement process, making it more convenient to transport.

[0057] Read also Figure 2 , Figure 3 as well as Figure 6 In some embodiments, the cabinet 11 includes a panel 113, a back panel 114, a side panel 115, a top panel 116, and a bottom panel 117. The cabinet 11 is also provided with a rotating seat 118, which is arranged on the inner side of the cabinet 11 for cooperating with the rotating frame assembly 12. When the first picking window 111 and the storage window 112 are arranged on the cabinet board on the same side, the rotating seat 118 is arranged on the cabinet board on the side opposite to the panel 113. Preferably, the first picking window 111 and the storage window 112 are arranged on the panel 113 on the cabinet 11, and the rotating seat 118 is arranged on the back panel 114 on the cabinet 11, and the area of ​​the panel 113 and the back panel 114 is larger than the area of ​​the side panel 115. The storage window 112 and the first pickup window 111 are not on the same vertical straight line, and the storage window 112 and the first pickup window 111 are not on the vertical center line of the panel 113, that is, the storage window 112 and the first pickup window 111 are respectively close to the side panels 115 on both sides, so that the storage window 112 and the first pickup window 111 are separated by a sufficient distance, so that the personnel and the delivery robot 2 can have enough working space and reduce the impact on each other. When the personnel are storing items, the delivery robot 2 can also take away the items.

[0058] In some embodiments, the width of the side panel 115 near the first pickup window 111 is greater than the width of the side panel 115 near the storage window 112, and the panel 113 where the first pickup window 111 is located is not on the same plane as the panel 113 where the storage window 112 is located, and the panel 113 where the first pickup window 111 is located is farther from the back panel 114 than the panel 113 where the storage window 112 is located. The cabinet 11 also includes a middle partition 119, and a transverse isolation board 16 and a longitudinal isolation board 15 are also provided in the cabinet 11. The middle partition 119 is arranged between the two side plates 115 and is arranged parallel to the two side plates 115; the two ends of the transverse isolation plate 16 are respectively connected to the middle partition 119 and the side plate 115 close to the first pickup window 111, and the transverse isolation plate 16 is parallel to the bottom plate 117; the longitudinal isolation plate 15 is arranged between the back plate 114 and the panel 113 where the first pickup window 111 is located, the longitudinal isolation plate 15 is parallel to the back plate 114, and the three side edges of the longitudinal isolation plate 15 are respectively connected to the side plate 115 close to the first pickup window 111, the transverse isolation plate 16, and the middle partition 119. In this way, the middle partition 119, the transverse isolation plate 16, the longitudinal isolation plate 15, the side plate 115 close to the first pickup window 111 and the panel 113 where the first pickup window 111 is located together define a space for setting the robot module 14.

[0059] Read also Figure 7 , Figure 8 , Fig. 9 as well as Fig.10 In some embodiments, the rotating frame assembly 12 further includes a turntable assembly 125, a first sensor 126, and a sensing sheet 127. The main shaft 122 of the rotating frame assembly 12 is inserted into the rotating seat 118 through a bearing, so that the main shaft 122 can rotate in the rotating seat 118, and the main shaft 122 and the rotating seat 118 are arranged perpendicular to the plane where the back plate 114 is located. The turntable assembly 125 is sleeved on the outer circumference of the main shaft 122, and one end of a plurality of support rods 121 is connected to the turntable assembly 125, so that one end of a plurality of support rods 121 is connected to the main shaft 122. The first motor 124 is arranged on the bottom plate 117, and the first motor 124 drives the main shaft 122 to rotate through the transmission mechanism 123, and the main shaft 122 drives the turntable assembly 125 and the plurality of support rods 121 to perform a rotational motion with the axis of the main shaft 122 as the center. The first sensor 126 and the sensing sheet 127 are arranged on the turntable assembly 125, wherein the number and position of the sensing sheets 127 correspond to the number and position of the support rods 121, at least two first sensors 126 are provided, and can be provided with the same number of support rods 121, and the first sensor 126 and the sensing sheet 127 cooperate with each other to obtain the status of each support rod 121 at any time, such as the rotation speed and specific position.

[0060] In some embodiments, the support rod 121 may be a galvanized square tube, any one of the support rods 121 is located on the straight line where the radius of the main axis 122 is located, and the angle formed by any two adjacent support rods 121 is equal. A plurality of bolt holes are provided at one end of each support rod 121 close to the turntable assembly 125, and bolt holes are also provided at the overlapped portion of the turntable assembly 125 and the support rod 121. Bolts pass through the bolt holes on the turntable assembly 125 and the support rod 121 to fix the support rod 121 on the turntable assembly 125. The storage box unit 13 may be provided at one end of the support rod 121 away from the turntable assembly 125. Since any one of the support rods 121 is located on the straight line where the radius of the main axis 122 is located, the space between the end of the support rod 121 away from the turntable assembly 125 and the adjacent support rod 121 is larger, so that the storage box unit 13 can be more conveniently provided. The storage box unit 13 can be provided at one end of each support rod 121 away from the turntable assembly 125. A storage box unit 13 may also be provided in the middle of the support rod 121 to improve the space utilization rate in the cabinet 11, but since the distance between the middle of the support rod 121 and the adjacent support rod 121 is smaller than the distance between the end of the support rod 121 away from the turntable assembly 125, when the storage box unit 13 is provided in the middle of the support rod 121, the storage box unit 13 is only provided in the middle of one of the two adjacent support rods 121. When the storage box unit 13 is provided only at the end of the support rod 121, one storage window 112 is provided; when the storage box unit 13 is also provided in the middle of the support rod 121, two storage windows 112 are provided, corresponding to the storage box units 13 at the end and the middle of the support rod 121, respectively.

[0061] In some embodiments, the transmission mechanism 123 may include a first sprocket 1231, a second sprocket 1232, and a transmission chain 1233. The first sprocket 1231 is sleeved on the output shaft of the first motor 124, the second sprocket 1232 is sleeved on the main shaft 122, and the transmission chain 1233 links the first sprocket 1231 and the second sprocket 1232, so that the first motor 124 drives the main shaft 122 to rotate.

[0062] In some embodiments, the turntable assembly 125 may include a first turntable 1251 and a second turntable 1252 that are arranged opposite to each other, the support rod 121 is arranged between the first turntable 1251 and the second turntable 1252, and each support rod 121 is fixedly connected to the first turntable 1251 and the second turntable 1252 by at least two bolts to improve the stability of the connection between the support rod 121 and the turntable assembly 125. The first turntable 1251 is closer to the back plate 114 than the second turntable 1252, and the first sensor 126 and the induction sheet 127 are arranged on the end surface of the first turntable 1251 close to the back plate 114. The second sprocket 1232 and the chain are arranged in the interval between the first turntable 1251 and the back plate 114. The storage box unit 13 is arranged in the interval space between the second turntable 1252 and the panel 113, that is, the storage box unit 13 and the transmission mechanism 123 are respectively arranged on both sides of the turntable assembly 125 to avoid collision between the storage box unit 13 and the transmission mechanism 123 and ensure safe operation.

[0063] Read also Fig.11 In some embodiments, each of the storage box units 13 includes a box body 131 , and a plurality of steps 1311 are spaced apart on the inner side of the bottom of the box body 131 , and the long sides of the steps 1311 are perpendicular to the plane where the opening of the box body 131 is located.

[0064] In this embodiment, bolt holes may be provided at one end and the middle of the support rod 121 away from the turntable assembly 125, and the top of the box body 131 is connected to the support rod 121 by bolts and a bushing. The opening of the box body 131 faces the panel 113, that is, the opening of the box body 131 faces the side where the storage window 112 is located. As the support rod 121 rotates, the opening of any box body 131 may be opposite to the storage window 112 at a certain point in time, so that it is convenient for personnel to put items from the storage window 112 into the box body 131. The steps 1311 arranged at intervals at the bottom of the box body 131 can form a gap between the bottom of the item and the bottom of the box body 131. The long side of the step 1311 is perpendicular to the plane where the opening of the box body 131 is located so that the side of the gap faces the opening of the box body 131, so that the robot module 14 can enter the gap through the opening of the box body 131 to lift the item, thereby taking the item out of the box body 131. See also Figure 5 A stopper 132 may be provided on the outside of the box body 131 to prevent the box body 131 from shaking or colliding accidentally. The stoppers 132 of the two box bodies 131 are respectively provided on the opposite sides of the two box bodies 131. When the two box bodies 131 are close to each other, the two stoppers 132 abut against each other to prevent the box body 131 from shaking and avoid a distance collision that causes damage to the items inside. A second sensor 133 is also provided on the box body 131. The second sensor 133 may be a reflective sensor. The second sensor 133 is connected to the terminal system for communication and is used to detect whether there is an item placed in the box body 131.

[0065] In some embodiments, each of the storage box units 13 also includes a tray 134 for holding objects, and the tray 134 is arranged on the step 1311; a plurality of spaced ribs 1341 are provided on the outer side of the bottom of the tray 134, and the number and direction of the ribs 1341 are arranged one-to-one corresponding to the number and direction of the steps 1311.

[0066] In this embodiment, the tray 134 is arranged in the box body 131 and placed on the step 1311. The objects can be placed on the tray 134. When the robot module 14 takes out the objects, it supports the tray 134 and thus takes the objects out of the box body 131. The tray 134 has upwardly protruding flanges on all sides. On the one hand, it can prevent the objects from slipping off the tray 134 during the transportation of the robot module 14; on the other hand, it can prevent the liquid in the objects from accidentally leaking out of the box body 131 and damaging the electrical equipment in the cabinet 11. The number and direction of the ribs 1341 arranged on the outer side of the bottom of the tray 134 correspond to the number and direction of the steps 1311, so that the ribs 1341 can be placed on the steps 1311. On the one hand, the ribs 1341 are arranged corresponding to the steps 1311, so that the intervals therebetween are also arranged relatively, thereby increasing the distance from the bottom of the box body 131 to the bottom of the tray 134, increasing the effective insertion distance of the manipulator module 14, and reducing the accuracy requirement of the manipulator module 14. For example, when the ribs 1341 are not arranged, the height of the step 1311 itself is 2 cm, and the effective insertion distance of the manipulator module 14 is only 2 cm. In the embodiment where the ribs 1341 are not arranged, the effective insertion distance of the manipulator module 14 is 2 cm of the height of the step 1311 itself plus the height of the ribs 1341. On the other hand, the ribs 1341 also have a limiting function to prevent the tray 134 from sliding relative to the manipulator module 14 during the process of transporting objects and the tray 134.

[0067] Read also Fig.12 as well as Fig.13 In some embodiments, the robot module 14 includes a lifting component 141, a rotating component 142, a translation component 143, and a fork plate 144 for taking items out of the storage box unit 13. The rotating component 142 is connected to the lifting component 141, the translation component 143 is connected to the rotating component 142, and the fork plate 144 is connected to the translation component 143, so that the fork plate 144 can perform lifting, rotating and horizontal movements in the cabinet 11.

[0068] In some embodiments, the lifting assembly 141 includes a second motor 1411, a lifting screw rod 1412 cooperating with the second motor 1411, and a fixed plate 1414, wherein the fixed plate 1414 is threadedly engaged with the lifting screw rod 1412 so that the second motor 1411 drives the fixed plate 1414 to perform lifting and lowering movements along the axial direction of the lifting screw rod 1412.

[0069] In this embodiment, the lifting assembly 141 may further include a synchronous belt 1413, a round bar 1415, an anti-collision block 1416, a profile plate assembly 1417, a screw baffle 1418 and a third sensor 1419. The second motor 1411 may be arranged on the above-mentioned transverse isolation plate 16, and the second motor 1411 is located at one end of the transverse isolation plate 16 close to the above-mentioned middle isolation plate 119. The lifting screw 1412 is vertically arranged on one side of the middle isolation plate 119, and the top of the lifting screw 1412 passes through the transverse isolation plate 16 and is located on the upper side of the transverse isolation plate 16 together with the second motor 1411. The gear on the output shaft of the second motor 1411 is connected to the gear on the top of the lifting screw 1412 through the synchronous belt 1413, so that the second motor 1411 drives the lifting screw 1412 to rotate. Two round bars 1415 are provided, and the two round bars 1415 are respectively arranged on both sides of the lifting screw 1412 and are arranged parallel to the lifting screw 1412. The fixing plate 1414 is located below the transverse isolation plate 16 and is arranged parallel to the transverse isolation plate 16. The middle part of the fixing plate 1414 is sleeved on the lifting screw rod 1412 through a nut, thereby forming a threaded fit with the lifting screw rod 1412. Both ends of the fixing plate 1414 are sleeved on two round rods 1415 through linear bearings, so that when the second motor 1411 drives the lifting screw rod 1412 to rotate, the fixing plate 1414 can move up and down along the axis direction of the lifting screw rod 1412. The anti-collision block 1416 is arranged at the top and bottom of the round rod 1415 to prevent the top and bottom of the manipulator module 14 from colliding with the transverse isolation plate 16 or the bottom plate 117 when the manipulator module 14 is lifting and lowering. The profile plate assembly 1417 is fixedly connected to the fixed plate 1414, and can be used as an intermediate structure connecting the rotating assembly 142 and the lifting assembly 141, so that when the second motor 1411 controls the fixed plate 1414 to lift and lower, the rotating assembly 142 also lifts and lowers. The screw rod baffle 1418 is arranged between the gap between the profile plate assembly 1417 and the fixed plate 1414. The height of the screw rod baffle 1418 is substantially equal to the height of the lifting screw rod 1412. Its top abuts against the bottom surface of the transverse isolation plate 16, and its bottom abuts against the bottom plate 117, thereby separating the lifting screw rod 1412 from the rotating assembly 142 and the translation assembly 143, ensuring that their work does not affect each other and allows them to operate smoothly. The third sensor 1419 can be installed on the profile plate assembly 1417 through a sensor bracket. The third sensor 1419 is connected to the terminal system for communication and is used to detect the lifting height of the lifting assembly 141 , thereby ensuring the accuracy of the lifting height of the robot module 14 .

[0070] The profile plate assembly 1417 may include a distance profile plate 1417a and a connection profile plate 1417b. The distance profile plate 1417a is provided in two pieces, which are respectively connected to the two ends of the fixed plate 1414, and are used to control the width of the lifting assembly 141. The connection profile plate 1417b is provided on one side of the fixed plate 1414 close to the rotating assembly 142, and its two ends are respectively connected to the two distance profile plates 1417a, which are used to connect the lifting assembly 141 and the rotating assembly 142, and a gap is provided between the connection profile plate 1417b and the fixed plate 1414, and the screw stopper 1418 is provided in the gap.

[0071] Read also Fig.14 , Fig.15 as well as Fig.16 In some embodiments, the rotating assembly 142 includes a mounting plate 1421, a third motor 1423 and a flange disc 1425. The mounting plate 1421 is connected to the fixed plate 1414, the third motor 1423 is arranged on the mounting plate 1421, and the flange disc 1425 is connected to the output shaft of the third motor 1423 so that the third motor 1423 drives the flange disc 1425 to rotate.

[0072] In this embodiment, the rotating assembly 142 may further include a reinforcing plate 1422, a motor fixing seat 1424, a roller 1426 and a fourth sensor 1427. The rotating assembly 142 is located on the side of the connecting profile plate 1417b away from the screw rod baffle 1418. The cross section of the mounting plate 1421 may be L-shaped, and the smaller plate is connected to the above-mentioned connecting profile plate 1417b through nuts, so as to form a connection between the mounting plate 1421 and the fixing plate 1414, thereby forming a connection between the rotating assembly 142 and the lifting assembly 141. The reinforcing plate 1422 may be triangular, and its two right-angled sides may be respectively connected to two plates of different areas of the mounting floor by welding or bolt connection, so as to improve the strength of the mounting plate 1421. The larger plate of the mounting plate 1421 is parallel to the bottom plate 117, one end of which is connected to the bottom end of the smaller plate of the mounting plate 1421, and the other end extends in a direction away from the lifting screw rod 1412, and the middle part thereof has a mounting groove for arranging the third motor 1423. The motor fixing seat 1424 may be a flat plate, which is parallel to the larger plate of the mounting plate 1421 and is located on the side of the mounting plate 1421 away from the bottom plate 117, and has a through hole in the middle thereof for allowing the output shaft of the third motor 1423 to pass through. First, the fourth motor 1432 is fixed to the bottom of the motor fixing seat 1424, and then the fourth motor 1432 is placed in the mounting groove of the larger plate of the mounting plate 1421, and the motor fixing seat 1424 and the larger plate of the mounting plate 1421 are fixed by bolts, so that the third motor 1423 is set on the mounting plate 1421. The flange disc 1425 is located on the side of the motor fixing base 1424 away from the base plate 117, and the translation assembly 143 is also located on the side of the motor fixing base 1424 away from the base plate 117. The output shaft of the third motor 1423 passes through the through hole on the motor fixing base 1424 and is connected to the bottom of the flange disc 1425, so that the third motor 1423 drives the flange disc 1425 to rotate. The top of the flange disc 1425 is connected to the translation assembly 143 by bolts, so that when the third motor 1423 drives the flange disc 1425 to rotate, the translation assembly 143 can also rotate together. The roller 1426 is arranged on the motor fixing seat 1424 and is located between the motor fixing seat 1424 and the translation assembly 143, that is, it is arranged on the top of the motor fixing seat 1424. The top of the roller 1426 contacts the bottom of the translation assembly 143. There are at least three rollers 1426, and the directions of the three rollers 1426 are different. Therefore, when the translation assembly 143 rotates, the bottom of the translation assembly 143 slides relative to the roller 1426, making its rotation smoother, and the roller 1426 can also play a supporting role of the rotating assembly 142 for the translation assembly 143.The fourth sensor 1427 can be disposed on a larger plate of the mounting plate 1421 , and the number can be set to two. The fourth sensor 1427 is communicatively connected with the terminal system to detect the rotation angle of the translation component 143 .

[0073] Read also Fig.17 as well as Fig.18 In some embodiments, the translation assembly 143 includes a horizontal plate 1431, a fourth motor 1432, and a horizontal screw rod 1433 cooperating with the fourth motor 1432. The horizontal plate 1431 is connected to the flange disc 1425 so that the horizontal plate 1431 rotates as the flange disc 1425 rotates. The fourth motor 1432 is arranged on the horizontal plate 1431, and the fork plate 144 is threadedly engaged with the horizontal screw rod 1433 so that the fourth motor 1432 drives the fork plate 144 to move horizontally along the axial direction of the horizontal screw rod 1433.

[0074] In this embodiment, the translation assembly 143 also includes a guide rail 1434. The horizontal plate 1431 is connected to the top of the flange disc 1425 by bolts, and the top of the above-mentioned roller 1426 is in contact with the bottom of the horizontal plate 1431. The output shaft of the fourth motor 1432 is connected to the horizontal screw rod 1433, and the horizontal screw rod 1433 is located on the side of the horizontal plate 1431 away from the above-mentioned motor fixing seat 1424. The fork plate 144 is threadedly connected to the horizontal screw rod 1433. The guide rail 1434 is arranged on both sides of the horizontal plate 1431, and is located on both sides of the horizontal screw rod 1433 and the horizontal screw rod 1433. The two sides of the fork plate 144 cooperate with the guide rail 1434, so that the fourth motor 1432 can drive the fork plate 144 to move horizontally along the axis direction of the horizontal screw rod 1433. Since the horizontal plate 1431 can rotate along with the flange disc 1425, the translation assembly 143 and the fork plate 144 can also rotate, so that the axis of the horizontal screw rod 1433 can be perpendicular to the plane of the opening of the box body 131 at a certain moment, so that the fork plate 144 can face the opening of the box body 131 at this moment, and the fork plate 144 is then driven by the fourth motor 1432 to be inserted into the gap of the step 1311 of the box body 131.

[0075] In some embodiments, the fork plate 144 includes a plug-in portion 1442, a limiting portion 1443, a screw connecting portion 1441, a slider connecting portion 1444 and a slider 1445; the limiting portion 1443 and the screw connecting portion 1441 are arranged at one end of the plug-in portion 1442, and the limiting portion 1443 is located on the upper end surface of the plug-in portion 1442, the screw connecting portion 1441 is located on the lower end surface of the plug-in portion 1442, the slider connecting portion 1444 is located on both sides of the plug-in portion 1442, and the slider 1445 is connected to the opposite side of the slider connecting portion 1444.

[0076] In this embodiment, the plug-in portion 1442 is in the shape of an elongated strip, and the number of the plug-in portion 1442 is at least two, preferably the same number as the intervals between the steps 1311 in the box body 131, so that it can be accurately inserted into the intervals between the steps 1311, and can stably receive the articles in the box body 131 or the tray 134 with articles. The limiting portion 1443 and the screw rod connecting portion 1441 are arranged at one end of the plug-in portion 1442 away from the box body 131. The limiting portion 1443 is perpendicular to the plug-in portion 1442 and is located on the upper end surface of the plug-in portion 1442, which can play a certain role in limiting the articles or the tray 134 and prevent them from sliding in the length direction of the plug-in portion 1442. In the embodiment where the bottom of the tray 134 is provided with a rib 1341, the plug-in portion 1442 can be inserted into the interval of the rib 1341, so that the plug-in portion 1442 cooperates with the side of the rib 1341 to prevent the tray 134 from sliding in the width direction of the plug-in portion 1442, further limiting the position of the tray 134, so that the robot module 14 can transport the items in the tray 134 more stably. The screw rod connection portion 1441 is located at the lower end surface of the plug-in portion 1442, and is used for threaded connection with the horizontal screw rod 1433. The slider connection portion 1444 is inserted on both sides of the plug-in portion 1442, and the two slider connection portions 1444 are connected to the opposite sides with sliders 1445, and the sliders 1445 cooperate with the guide rails 1434 on both sides of the horizontal plate 1431. Specifically, the sliders 1445 can be embedded in the guide rails 1434.

[0077] A fifth sensor (not shown in the figure) is provided on the fork plate 144 . The fifth sensor is in communication connection with the terminal system and is used for detecting the horizontal movement distance of the fork plate 144 .

[0078] See also Figure 4 A second pickup window 151 and a third pickup window 152 are provided on the longitudinal isolation plate 15. The position of the second pickup window 151 corresponds to the box body 131 at the end of the support rod 121, and the position of the third pickup window 152 corresponds to the box body 131 in the middle of the support rod 121. The second pickup window 151 is closer to the bottom plate 117 of the cabinet 11 than the third pickup window 152.

[0079] Read also Figures 1 to 18In combination with the above embodiments, the working process of the manipulator module 14 is summarized as follows: taking the goods from the box body 131 at the end of the support rod 121 as an example, when it is necessary to pick up the goods, the lifting component 141 controls the lifting movement of the manipulator module 14, so that the translation component 143 and the third picking window 152 are basically on the same horizontal line; the rotating component 142 controls the rotation of the translation component 143 and the rotation of the fork plate 144, so that the plug-in portion 1442 of the fork plate 144 is facing the third picking window 152; the lifting component 141 then fine-tunes the rotation of the translation component 143 and the height of the fork plate 144 to ensure that the plug-in portion 1442 of the fork plate 144 is facing the interval between the steps 1311 in the box body 131 inside the third picking window 152 (at this time, the rotating frame assembly 12 is in a state of suspended rotation); the translation component 143 controls the fork plate 144 to move into the box body 131 The fork plate 144 moves upwards; when the plug-in portion 1442 of the fork plate 144 is fully inserted into the box body 131, the lifting assembly 141 controls the fork plate 144 to move upwards for a distance so that the convex rib 1341 at the bottom of the pallet 134 leaves the step 1311, so that the fork plate 144 lifts the pallet 134 and the items; the fourth motor 1432 of the translation assembly 143 reverses to control the fork plate 144 to exit the box body 131 and move away from the third pickup window 152; the rotating assembly 142 controls the translation assembly 143 to rotate 90 degrees clockwise (from a top-down perspective), at this time, the horizontal screw rod 1433 of the translation assembly 143 is exactly parallel to the plane where the first pickup window 111 is located; the translation assembly 143 then controls the fork plate 144 to move toward the direction of the first pickup window 111, so that the pallet 134 and the items on the fork plate 144 are exactly opposite to the first pickup window for the delivery robot 2 to pick up the goods.

[0080] Read also Fig.19 as well as Fig. 20 In some embodiments, the storage cabinet 1 further includes an automatically opened and closed cargo pickup door assembly 17 , and the cargo pickup door assembly 17 is disposed at the first cargo pickup window 111 to open or close the first cargo pickup window 111 .

[0081] In this embodiment, the pickup door assembly 17 may include a mounting frame 171, a door panel 172, a guide rod 178, and a sliding block 179. The mounting frame 171 is arranged on the inner side of the panel 113 where the first pickup window 111 is located, the door panel 172 is inserted into the insertion hole of the mounting frame 171, the mounting frame 171 is provided with guide rods 178 on both sides, and the door panel 172 may be connected with sliding blocks 179 that cooperate with the guide rods 178 on both sides, so that the door panel 172 can move in the insertion hole relative to the mounting frame 171 along the axis direction of the guide rod 178, and the area of ​​the door panel 172 is larger than the area of ​​the first pickup window 111, so that it can close the first pickup window 111.

[0082] The pickup door assembly 17 may further include a lining plate 173, a fifth motor 174, a driving rod 175, a swing rod 176, a slideway 177, and a sixth sensor 17a. The lining plate 173 is fixed to the inner side of the door plate 172, the fifth motor 174 is mounted on the side of the mounting frame 171, and the output shaft of the fifth motor 174 is perpendicular to the door plate 172 and is arranged toward the inner side of the door plate 172. One end of the driving rod 175 is connected to the output shaft of the fifth motor 174. One end of the swing rod 176 is connected to the frame 1741 of the fifth motor 174 by a rotating shaft connection. The protrusion of the other end of the driving rod 175 is set in the slide groove of the swing rod 176, and the other end of the driving rod 175 can slide in the slide groove of the swing rod 176; the protrusion of the other end of the swing rod 176 is set in the slideway 177, and the other end of the swing rod 176 can slide in the slideway 177. The slideway 177 is fixed on the lining plate 173. Preferably, the slideway 177 is set horizontally. In this way, the fifth motor 174 can control the door panel 172 to move back and forth along the axis direction of the guide rod 178. The sixth sensor 17a is set on the inner side of the door panel 172. The sixth sensor 17a is connected to the terminal system for communication and is used to detect the movement distance of the door panel 172 and confirm whether the state of the door panel 172 is open or closed. A seventh sensor 17b is also provided on the inner side of the mounting frame 171 . The seventh sensor 17b is communicatively connected with the terminal system and is used to detect whether the telescopic plate 22 of the delivery robot 2 enters the cabinet 11 through the first pickup window 111 .

[0083] See also Figure 2 In some embodiments, the panel 113 is further provided with a touch screen 18, through which a person can store items, and the display screen 18 can also display the storage status of the storage cabinet 1, such as the number of free storage box units 13, etc. An automatically openable hatch is provided at the storage window 112, and the opening principle of the hatch is the existing technology, such as spring control, which will not be described in detail here.

[0084] Read also Fig.21In some embodiments, the delivery robot 2 further includes a main body 21 and a closing pad 24. The main body 21 has an insulation bin for storing items, and the telescopic plate 22 is disposed in the insulation bin and can enter and exit the insulation bin. A baffle 23 is disposed at one end of the telescopic plate 22 facing outward, and the baffle 23 is used to close the insulation bin on the one hand, and to limit the items on the telescopic plate 22 on the other hand. The closing pad 24 is disposed on the telescopic plate 22, and is provided with bosses 241 disposed at intervals, and the number of intervals between the bosses 241 is at least greater than the number of the plug-in parts 1442 of the fork plate 144. When picking up food or goods, the picking door assembly 17 opens the first picking window 111, and the telescopic plate 22 enters the cabinet 11 from the first picking window 111; the manipulator assembly transports the items or the tray 134 carrying the items to the top of the telescopic plate 22, and controls the plug-in portion 1442 of the fork plate 144 to be directly above the gap between the boss 241 of the closing pad 24, and the lifting assembly 141 controls the fork plate 144 to descend, so that the bottom of the item or the bottom of the convex rib 1341 of the tray 134 overlaps the boss 241 of the closing pad 24, and the lifting assembly 141 controls the fork plate 144 to descend slightly, thereby releasing the contact relationship between the fork plate 144 and the item or tray 134, and the translation assembly 143 controls the plug-in plate to move away from the telescopic plate 22, so that the item or tray 134 is placed on the closing pad 24 of the delivery robot 2, and the delivery robot 2 retracts the telescopic plate 22 to complete the picking up of food or goods. The delivery robot 2 will then deliver the food to the destination according to the control instructions sent by the control system.

[0085] The storage and delivery equipment disclosed in the embodiment of the present invention includes a storage cabinet 1 and a delivery robot 2. Prepared meals or takeout can be stored in the storage cabinet 1, and a storage box unit 13 is set on the rotating frame assembly 12 by setting a rotating frame assembly 12 in the storage cabinet 1, and a manipulator module 14 is set to cooperate with the delivery robot 2 to achieve automatic delivery, improve the problem of chaos on the meal preparation site, and improve the meal delivery efficiency. In addition, the delivery robot 2 can maintain its original height and can take any meal in the storage cabinet 1, avoiding the problem that the traditional storage cabinet 1 requires manual help, and can also solve the problem of inconvenience in transportation caused by the increase in the size of the delivery robot 2, such as the inability to pass through narrow or low spaces.

[0086] The embodiment of the present invention further discloses a control method, which is applied to the storage and delivery equipment described in the above embodiment, wherein the storage cabinet and the delivery robot are both connected to a terminal system for communication, and the terminal system may be a hotel management system, such as Fig. 22 As shown, the method includes steps S110 to S150.

[0087] S110: Encode the plurality of storage box units.

[0088] Taking the storage box units in the above embodiment as an example, there are 14 storage box units arranged at the ends of the support rod and 7 storage box units arranged in the middle of the support rod. The coding starts from the storage box units at the ends of the support rod, and their codes are 1, 2, 3...20 and 21.

[0089] S120, pre-establishing a table of correspondence between the cabinet entry time and the storage box unit number.

[0090] An empty table of correspondence between the entry time and the storage box unit number is established and stored in the terminal system. Except for the table header, the empty table of correspondence always has 21 rows and 2 columns, that is, the number of rows is equal to the number of storage box units.

[0091] S130, when food is put into any of the storage box units, the cabinet entry time data and the number information of the storage box unit into which the food is put are stored in the stored corresponding relationship empty table in order from top to bottom to obtain a corresponding relationship table.

[0092] When the second sensor on the box body of the storage box unit detects that food is placed inside the box, the number information of the storage box unit is sent to the terminal system. The terminal system records the receiving time while receiving the number data of the storage box unit. The receiving time is the time of entering the cabinet. The terminal system stores the received number information and the recorded receiving time in the stored corresponding relationship table in sequence, and obtains a corresponding relationship table, such as the following table:

[0093] Receiving time Storage box unit number 2024.11.01-10：29 No.7 2024.11.01-10：32 No. 8 2024.11.01-10：33 No. 9 …… …… 2024.11.01-11：05 No. 21

[0094] S140: Determine whether the distance between the delivery robot and the storage cabinet is less than a preset distance.

[0095] The location information of the storage cabinet is pre-stored in the terminal system. The terminal system can obtain the real-time location information of the delivery robot through GPS, GPRS or WI-FI, and judge whether the distance between the delivery robot and the storage cabinet is less than the preset distance through the location information of the storage cabinet and the real-time location information of the delivery robot. For example, the preset distance is 2m.

[0096] S150. If the position spacing is less than a preset distance, send a control instruction to the first motor to control the main shaft to rotate so that the storage box unit corresponding to the number of the storage box unit in the top row of the correspondence table moves to a preset position.

[0097] If the position spacing is less than the preset distance, it means that the delivery robot is about to reach the storage cabinet to pick up the food. The terminal system sends a control instruction to the first motor to control the main shaft to rotate, so that the storage box unit corresponding to the number of the storage box unit in the top row of the correspondence table moves to the preset position, for example, the No. 7 storage box unit moves to the preset position, which is a position convenient for the robot module to pick up food, such as the second pickup window (or the third pickup window) in the above embodiment. The rotation angle of the support rod can be controlled by setting parameters such as the power of the first motor, the transmission ratio of the first sprocket and the second sprocket. The angle of the current support rod (for example, the support rod where the No. 7 storage box unit is located) from the preset position can be obtained by the first sensor on the rotating frame assembly.

[0098] If the position spacing is not less than the preset distance, a control instruction is sent to the first motor to control the main shaft to rotate so that the storage box unit without items inside moves to the storage window.

[0099] If the position spacing is not less than the preset distance, it means that the delivery robot will not perform the meal pickup operation in a short time. At this time, the terminal system sends a control instruction to the first motor to control the rotation of the main shaft so that the storage box unit with no items inside moves to the storage window. In this way, people can operate quickly when storing meals without waiting for the rotating rack to rotate temporarily.

[0100] In some embodiments, the control method disclosed in the embodiments of the present invention is as follows: Fig.23 As shown, after the storage box unit corresponding to the number of the storage box unit in the uppermost row in the correspondence table is moved to the preset position, steps S160 to S180 are also included.

[0101] S160: Determine whether the food in the storage box unit located at the preset position has been taken away.

[0102] After the food in the storage box unit located at the preset position is taken away, the second sensor on the box body of the storage box unit sends the information that the food has been taken away to the terminal system.

[0103] S170. If the meal has been taken away, delete the cabinet entry time data and the number information located in the top row of the correspondence table, and move the remaining cabinet entry time data and the number information up one row to update the correspondence table.

[0104] After receiving the information that the meal in the storage box unit at the preset position has been taken away, the terminal system deletes the cabinet entry time data and number information in the top row of the corresponding relationship table, and moves the remaining cabinet entry time data and number information up by cutting and pasting to update the corresponding relationship table, such as the following table:

[0105] Receiving time Storage box unit number 2024.11.01-10：32 No. 8 2024.11.01-10：33 No. 9 …… …… 2024.11.01-11：05 No. 21

[0106] S180. Return to execute the step of determining whether the distance between the delivery robot and the storage cabinet is less than a preset distance.

[0107] The control method disclosed in the embodiment of the present invention can deliver meals according to the time sequence in which they are stored, so that meal distribution can be carried out in an orderly manner, and meals that need to be delivered can be in place in advance before the delivery robot arrives, thereby improving delivery efficiency.

[0108] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A storage and distribution device, characterized in that: It includes a storage cabinet and a delivery robot; the storage cabinet includes: A cabinet body, wherein a first pickup window and a storage window are provided on the cabinet body; A rotating frame assembly is disposed in the cabinet, the rotating frame assembly includes a main shaft, a plurality of supporting rods, a transmission mechanism and a first motor, one end of the plurality of supporting rods is connected to the main shaft, and the transmission mechanism connects the first motor and the main shaft so that the first motor drives the main shaft to rotate; A plurality of storage box units are arranged in the cabinet and used for storing articles, and the plurality of storage box units are arranged on the plurality of supporting rods, and the plurality of supporting rods rotate with the main shaft so that any of the storage box units is arranged relative to the storage window; and A robot module, disposed in the cabinet, for transporting items in the storage box unit to the first pickup window; The delivery robot includes a telescopic plate that can enter and exit the cabinet from the first pickup window, and the telescopic plate cooperates with the manipulator module to take out items from the cabinet.

2. The storage and delivery equipment according to claim 1, characterized in that: The robot module includes a lifting component, a rotating component, a translation component and a fork plate for taking items out of the storage box unit. The rotating component is connected to the lifting component, the translation component is connected to the rotating component, and the fork plate is connected to the translation component, so that the fork plate can perform lifting, rotating and horizontal movements within the cabinet.

3. The storage and delivery equipment according to claim 2, characterized in that: The lifting assembly includes a second motor, a lifting screw rod matched with the second motor and a fixed plate, the fixed plate is threadedly matched with the lifting screw rod so that the second motor drives the fixed plate to perform lifting and lowering movements along the axial direction of the lifting screw rod; the rotating assembly includes a mounting plate, a third motor and a flange disc, the mounting plate is connected to the fixed plate, the third motor is arranged on the mounting plate, and the flange disc is connected to the output shaft of the third motor so that the third motor drives the flange disc to rotate; the translation assembly includes a horizontal plate, a fourth motor, and a horizontal screw rod matched with the fourth motor, the horizontal plate is connected to the flange disc so that the horizontal plate rotates as the flange disc rotates, the fourth motor is arranged on the horizontal plate, and the fork plate is threadedly matched with the horizontal screw rod so that the fourth motor drives the fork plate to perform horizontal movements along the axial direction of the horizontal screw rod.

4. The storage and delivery equipment according to claim 3, characterized in that: The fork plate includes a plug-in portion, a limiting portion, a screw connecting portion and a slider connecting portion; the limiting portion and the screw connecting portion are arranged at one end of the plug-in portion, and the limiting portion is located at the upper end surface of the plug-in portion, the screw connecting portion is located at the lower end surface of the plug-in portion, the slider connecting portion is located at both sides of the plug-in portion, a slider is connected to the opposite side of the slider connecting portion, and guide rails matching the slider are provided on both sides of the horizontal plate.

5. The storage and delivery equipment according to claim 1, characterized in that: Each of the storage box units comprises a box body, a plurality of steps are arranged at intervals on the inner side of the bottom of the box body, and the long sides of the steps are perpendicular to the plane where the opening of the box body is located.

6. The storage and delivery equipment according to claim 5, characterized in that: Each storage box unit further comprises a tray for holding objects, and the tray is arranged on the step; a plurality of convex ribs arranged at intervals are arranged on the outer side of the bottom of the tray, and the number and direction of the convex ribs are arranged in one-to-one correspondence with the number and direction of the steps.

7. The storage and delivery equipment according to claim 1, characterized in that: The storage cabinet also includes an automatically opened and closed cargo pickup door assembly, and the cargo pickup door assembly is arranged at the first cargo pickup window to open or close the first cargo pickup window.

8. The storage and delivery equipment according to claim 7, characterized in that: The system may include a mounting frame, a door panel, a guide rod, a sliding block, a lining plate, a fifth motor, a driving rod, a rocker arm, a slideway and a fifth motor; the mounting frame is arranged on the inner side of the first pickup window, the door panel is inserted in the socket of the mounting frame, the guide rods are arranged on both sides of the mounting frame, and the sliding blocks matched with the guide rods are connected on both sides of the door panel; the lining plate is fixed on the inner side of the door panel, the fifth motor is installed on the side edge of the mounting frame, the output shaft of the fifth motor is perpendicular to the door panel and is arranged toward the inner side of the door panel; one end of the driving rod is connected to the output shaft of the fifth motor, one end of the rocker arm is connected to the frame of the fifth motor by a rotating shaft connection, and the protrusion at the other end of the driving rod is arranged in the slide groove of the rocker arm; the protrusion at the other end of the rocker arm is arranged in the slideway, and the slideway is fixed on the lining plate, so that the fifth motor controls the door panel to move back and forth along the axial direction of the guide rod.

9. A control method, applied to the storage and delivery equipment according to any one of claims 1 to 8, characterized in that: The storage cabinet and the delivery robot are both in communication connection with a terminal system, and the method includes: encoding the plurality of storage box units; Pre-establishing a table of correspondence between the cabinet entry time and the storage box unit number; When food is placed in any of the storage box units, the cabinet entry time data and the number information of the storage box unit into which the food is placed are stored in the corresponding relationship table in descending order to obtain a corresponding relationship table; Determining whether the distance between the delivery robot and the storage cabinet is less than a preset distance; If the position spacing is less than the preset distance, a control instruction is sent to the first motor to control the main shaft to rotate so that the storage box unit corresponding to the number of the storage box unit in the top row of the corresponding relationship table moves to the preset position.

10. The control method according to claim 9, characterized in that: After the storage box unit corresponding to the number of the storage box unit in the uppermost row of the correspondence table is moved to a preset position, the method includes: Determining whether the food in the storage box unit located at the preset position has been taken away; If the meal has been taken away, the cabinet entry time data and the number information located in the top row of the correspondence table are deleted, and the remaining cabinet entry time data and the number information are moved up one row to update the correspondence table; Return to executing the step of determining whether the distance between the delivery robot and the storage cabinet is less than a preset distance.

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