Storage and distribution equipment and control method

Abstract

The present invention discloses a storage and delivery device and a control method. The storage and delivery device includes a storage cabinet and a delivery robot. The storage cabinet includes a cabinet body, a rotating rack assembly, a plurality of storage box units, and a manipulator module. The cabinet body is provided with a first pickup window and a storage window. The rotating rack assembly is disposed in the cabinet body. A plurality of storage box units are disposed in the cabinet body for storing items. The manipulator module is disposed in the cabinet body for transporting items in the storage box units to the first pickup window. Meals or takeout prepared by personnel can be stored in the storage box units of the storage cabinet. By disposing a rotating rack assembly in the storage cabinet, the storage box units can be disposed on the rotating rack assembly. The manipulator module transports the meals or takeout in the storage box units to the delivery robot. The delivery robot delivers the meals to the destination, thereby realizing automatic delivery and improving the problem of chaos at the meal preparation site.

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 technological advancements, many hotels are offering robot-based food delivery services. Guests can place their hotel meal or takeout orders in their rooms using their mobile phones or other smart devices. Hotel staff or delivery drivers then place the prepared meals into the robot's storage compartment, which then delivers them to their room door. This can save guests time 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 delivery 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 the cabinet body is provided with a first pickup window and a storage window;

[0007] a rotating frame assembly disposed in the cabinet, the rotating frame assembly comprising a main shaft, a plurality of support rods, a transmission mechanism, and a first motor, one end of the plurality of support rods being connected to the main shaft, the transmission mechanism connecting 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 disposed in the cabinet for storing articles, wherein the plurality of storage box units are disposed on the plurality of support rods, and the plurality of support rods rotate with the main shaft so that any of the storage box units is disposed opposite to the storage window; and

[0009] A robot module is disposed in the cabinet and is used to transport the 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 entry time and storage box unit number;

[0014] When food is placed in any of the storage box units, the 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 storage box unit number in the top row of the correspondence 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 includes a storage cabinet and a delivery robot; the storage cabinet includes a cabinet body, and the cabinet body is provided with a first pickup window and a storage window;

[0018] a rotating frame assembly disposed in the cabinet, the rotating frame assembly comprising a main shaft, a plurality of support rods, a transmission mechanism, and a first motor, one end of the plurality of support rods being connected to the main shaft, the transmission mechanism connecting 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 disposed in the cabinet for storing articles, wherein the plurality of storage box units are disposed on the plurality of support rods, and the plurality of support rods rotate with the main shaft so that any of the storage box units is disposed opposite to the storage window; and

[0020] A robot module is disposed in the cabinet and is used to transport the 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 takeouts prepared by the staff 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 takeouts 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 chaos at the meal distribution site. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

[0026] Figure 3 A diagram showing the internal structure of a storage cabinet for storage and distribution equipment provided by an embodiment of the present invention;

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

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

[0029] Figure 6 A diagram showing the internal structure of a cabinet for a storage and delivery device provided by 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] Figure 9 A structural diagram of a rotating rack assembly of a storage and delivery device provided by an embodiment of the present invention;

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

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

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

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

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

[0038] Figure 15 A structural diagram of the rotating assembly, the translating assembly, and the fork plate of the storage and delivery equipment provided by an embodiment of the present invention;

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

[0040] Figure 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] Figure 18 Another structural diagram of the translation assembly and fork plate of the storage and delivery equipment provided by an embodiment of the present invention;

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

[0043] Figure 20 Another structural diagram of the pickup door assembly of the storage and delivery equipment provided by an embodiment of the present invention;

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

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

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

[0047] Figure numbers: 1, storage cabinet; 11, cabinet body; 111, first pickup 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, timing 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 stopper; 1419, third sensor; 142. Rotating assembly; 1421. Mounting plate; 1422. Reinforcement plate; 1423. Third motor; 1424. Motor mounting base; 1425. Flange disc; 1426. Roller; 1427. Fourth sensor; 143. Translation assembly; 1431. Horizontal plate; 14311. Plate body; 14312. Motor mounting portion; 1432. Fourth motor; 1433. Horizontal screw; 1434. Guide rail; 144. Fork plate; 1441. Screw connecting portion; 1442. Connecting portion; 1443. Limiting portion; 1444. Slider connecting portion; 1445. Slider; 15. Longitudinal isolation plate; 151. Second pickup window; 152. Third pickup window; 16. Horizontal isolation 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. Slide; 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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0049] It will be understood that when used in this specification and the appended claims, the terms "comprises" and "comprising" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude 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, terms such as "installed", "connected", "connected", "fixed", and "set" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and 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 intervening 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 the indicated technical features. Therefore, the features defined as "first", "second", "third", etc. may explicitly or implicitly include one or more of such 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 particular embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[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 that can be used for the storage and delivery of hotel meals or takeout, 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. Storage cabinet 1 is used to store hotel meals or takeout. Hotel staff or delivery drivers can place prepared meals or takeout in storage cabinet 1. Delivery robot 2 and storage cabinet 1 are in communication with a terminal system. When meals or takeout are placed in storage cabinet 1, storage cabinet 1 sends a message to the terminal system, which then sends a work instruction to delivery robot 2. Delivery robot 2 then picks up the meals or takeout and delivers them to the destination, which could be the doorway of a hotel room or residential complex.

[0054] See 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 robot 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 robot module 14 are all arranged in the cabinet body 11. The plurality of storage box units 13 are arranged on the rotating rack assembly 12 for storing items, namely the hotel meals or takeout items mentioned above; the storage box units 13 can move with the state change of the rotating rack assembly 12, and the robot module 14 is used to take out the items in the storage box units 13.

[0055] See also Figure 1 as well as Figure 7 , the cabinet body 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 body 11, and is used to transport the items in the storage box unit 13 to the first pickup window 111; refer to Figure 21 The delivery robot 2 includes a telescopic plate 22 that can enter and exit the cabinet 11 from the first pickup window 111 . 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 cabinet panels, and the first pickup window 111 and the storage window 112 can be set on the same cabinet panel or on different cabinet panels. Hotel staff or delivery drivers can place meals or takeouts into the storage box unit 13 in the cabinet 11 through the storage window 112, and the delivery robot 2 takes the meals or takeouts 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 (i.e., the hotel staff or delivery personnel mentioned above). Because 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. In this way, the number of storage windows 112 can be set as few as possible, for example one or two, to facilitate the storage personnel to store items in the same location, reduce the walking distance, and improve storage efficiency. The delivery robot 2 can also take 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] See also Figure 2 、 Figure 3 as well as Figure 6 In some embodiments, the cabinet body 11 includes a panel 113, a back panel 114, side panels 115, a top panel 116, and a bottom panel 117. The cabinet body 11 is further provided with a rotating seat 118, which is arranged on the inner side of the cabinet body 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 panel on the same side, the rotating seat 118 is arranged on the cabinet panel on the side opposite to the panel 14311. Preferably, the first picking window 111 and the storage window 112 are arranged on the panel 113 on the cabinet body 11, and the rotating seat 118 is arranged on the back panel 114 on the cabinet body 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 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 personnel and the delivery robot 2 can have enough working space and reduce the impact on each other. When personnel store items, the delivery robot 2 can also take away 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 coplanar with the panel 113 where the storage window 112 is located. Compared to the panel 113 where the storage window 112 is located, the panel 113 where the first pickup window 111 is located is farther from the back panel 114. The cabinet 11 also includes a middle partition 119, and the cabinet 11 is further provided with a transverse isolation panel 16 and a longitudinal isolation panel 15. The middle partition 119 is arranged between the two side panels 115 and is arranged parallel to the two side panels 115; the two ends of the horizontal isolation plate 16 are respectively connected to the middle partition 119 and the side panel 115 near the first pickup window 111, and the horizontal 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, and 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 panel 115 near the first pickup window 111, the horizontal isolation plate 16, and the middle partition 119. In this way, the middle partition 119, the horizontal isolation plate 16, the longitudinal isolation plate 15, the side panel 115 near 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] See also Figure 7 、 Figure 8 、 Figure 9 as well as Figure 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. 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, thereby forming a connection between one end of a plurality of support rods 121 and the main shaft 122. The first motor 124 is arranged on the base plate 117. The first motor 124 drives the main shaft 122 to rotate through the transmission mechanism 123. 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 to be the same as the number of support rods 121. 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 rods 121 may be galvanized square tubes. Each support rod 121 is located on a straight line with the radius of the main axis 122, and the angle formed by any two adjacent support rods 121 is equal. Each support rod 121 has multiple bolt holes on its end near the turntable assembly 125. Bolt holes are also provided where the turntable assembly 125 and the support rod 121 overlap. Bolts pass through the bolt holes in the turntable assembly 125 and the support rod 121 to secure the support rod 121 to the turntable assembly 125. The storage box unit 13 may be located at the end of the support rod 121 away from the turntable assembly 125. Since each support rod 121 is located on a straight line with the radius of the main axis 122, the end of the support rod 121 away from the turntable assembly 125 is spaced further apart from adjacent support rods 121, making it easier to install the storage box unit 13. A storage box unit 13 may be located at the 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 a support rod 121 to improve space utilization within the cabinet 11. However, because the spacing between the middle of a support rod 121 and an adjacent support rod 121 is smaller than the spacing between the ends of the support rod 121 away from the turntable assembly 125, when a storage box unit 13 is provided in the middle of a support rod 121, only the middle of one of the two adjacent support rods 121 is provided. When a storage box unit 13 is provided only at the ends of a support rod 121, one storage window 112 is provided; when a storage box unit 13 is also provided in the middle of a support rod 121, two storage windows 112 are provided, one corresponding to the storage box unit 13 at the end and the other at the middle of the support rod 121.

[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 disposed opposite each other, with the support rods 121 disposed between the first turntable 1251 and the second turntable 1252. 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 rods 121 and the turntable assembly 125. The first turntable 1251 is closer to the backplate 114 than the second turntable 1252. The first sensor 126 and the sensing plate 127 are disposed on the end surface of the first turntable 1251 near the backplate 114. The second sprocket 1232 and the chain are disposed in the space between the first turntable 1251 and the backplate 114. The storage box unit 13 is arranged in the 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] See also Figure 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 bushings. 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, making it convenient for people 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 also be provided on the outside of the box body 131 to prevent the box body 131 from accidentally shaking or colliding. The stoppers 132 of the two box bodies 131 are respectively provided on opposite sides of the 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 bodies 131 from shaking and avoiding a distance collision that may damage 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 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 further 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 correspond one-to-one 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. Items can be placed on the tray 134. When the robot module 14 takes out the items, it supports the tray 134 and thus takes the items 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 items 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 interval between them is also relatively set, thereby increasing the distance between the bottom of the box body 131 and 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 set, 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 set, 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 items and the tray 134.

[0067] See also Figure 12 as well as Figure 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, rotational and horizontal movements in the cabinet 11.

[0068] In some embodiments, the lifting assembly 141 includes a second motor 1411, a lifting screw 1412 cooperating with the second motor 1411, and a fixed plate 1414. The fixed plate 1414 is threadedly engaged with the lifting screw 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 1412.

[0069] In this embodiment, the lifting assembly 141 may further include a synchronous belt 1413, a round rod 1415, a bumper 1416, a profile plate assembly 1417, a screw stop 1418, and a third sensor 1419. A second motor 1411 may be mounted on the aforementioned transverse partition 16, with the second motor 1411 located at one end of the transverse partition 16 near the aforementioned intermediate partition 119. A lifting screw 1412 is vertically mounted on one side of the intermediate partition 119. The top of the lifting screw 1412 passes through the transverse partition 16 and is located above the transverse partition 16 along with the second motor 1411. The gear on the output shaft of the second motor 1411 is connected to the gear at the top of the lifting screw 1412 via a synchronous belt 1413, allowing the second motor 1411 to drive the lifting screw 1412 to rotate. Two round rods 1415 are provided, one on each side of the lifting screw 1412 and arranged parallel to the lifting screw 1412. The fixing plate 1414 is located below and parallel to the transverse isolation plate 16. The middle portion of the fixing plate 1414 is sleeved onto the lifting screw 1412 via a nut, thereby forming a threaded fit with the lifting screw 1412. The ends of the fixing plate 1414 are sleeved onto two round rods 1415 via linear bearings. As a result, when the second motor 1411 drives the lifting screw 1412 to rotate, the fixing plate 1414 can move up and down along the axis of the lifting screw 1412. Anti-collision blocks 1416 are provided 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. The profile plate assembly 1417 is fixedly connected to the fixed plate 1414 and serves 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 stopper 1418 is provided in the gap between the profile plate assembly 1417 and the fixed plate 1414. The height of the screw stopper 1418 is substantially equal to that of the lifting screw 1412. Its top abuts the bottom surface of the transverse isolation plate 16, and its bottom abuts the bottom plate 117, thereby separating the lifting screw 1412 from the rotating assembly 142 and the translation assembly 143, ensuring that their operations do not affect each other and enable them to operate smoothly. The third sensor 1419 can be installed on the profile plate assembly 1417 through the sensor bracket. The third sensor 1419 is communicated with the terminal system and is used to detect the lifting height of the lifting assembly 141, thereby ensuring the accuracy of the lifting height of the manipulator module 14.

[0070] Profile plate assembly 1417 may include a distance profile plate 1417a and a connecting profile plate 1417b. Two distance profile plates 1417a are provided, connected to either end of fixed plate 1414, and are used to control the width of lifting assembly 141. Connecting profile plate 1417b is positioned on the side of fixed plate 1414 near rotating assembly 142, with its ends connected to the other distance profile plates 1417a, respectively. It is used to connect lifting assembly 141 and rotating assembly 142. A gap is defined between connecting profile plate 1417b and fixed plate 1414, with the aforementioned screw stopper 1418 positioned within this gap.

[0071] See also Figure 14 、 Figure 15 as well as Figure 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 mounting base 1424, a roller 1426, and a fourth sensor 1427. The rotating assembly 142 is entirely located on the side of the connecting profile plate 1417b away from the screw stop 1418. The mounting plate 1421 may have an L-shaped cross-section, with the smaller portion of the plate connected to the connecting profile plate 1417b via nuts, thereby connecting the mounting plate 1421 to the fixing plate 1414, and thus, the rotating assembly 142 to the lifting assembly 141. The reinforcing plate 1422 may be triangular in shape, with its two right-angled sides connected to two different-sized panels of the mounting floor via welding or bolts, thereby enhancing the strength of the mounting plate 1421. The larger portion of the mounting plate 1421 is parallel to the base plate 117. One end of the larger portion is connected to the bottom end of the smaller portion of the mounting plate 1421, while the other end extends away from the lifting screw 1412. The center portion of the reinforcing plate 1422 includes a mounting slot for the third motor 1423. Motor mount 1424 can be a flat plate, parallel to the larger side of mounting plate 1421 and located on the side of mounting plate 1421 away from base plate 117. It has a through-hole in its center for the output shaft of third motor 1423 to pass through. First, fourth motor 1432 is secured to the bottom of motor mount 1424. Then, fourth motor 1432 is placed in the mounting slot of the larger side of mounting plate 1421. Motor mount 1424 and the larger side of mounting plate 1421 are then secured together with bolts to secure third motor 1423 to mounting plate 1421. The flange disc 1425 is located on the side of the motor fixing seat 1424 away from the base plate 117, and the translation assembly 143 is also located on the side of the motor fixing seat 1424 away from the base plate 117. The output shaft of the third motor 1423 passes through the through hole on the motor fixing seat 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 set on the motor fixing base 1424 and is located between the motor fixing base 1424 and the translation assembly 143, that is, it is set on the top of the motor fixing base 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 to the terminal system and is used to detect the rotation angle of the translation component 143 .

[0073] See also Figure 17 as well as Figure 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 axis 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 rails 1434 are arranged on both sides of the horizontal plate 1431, and are 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 rails 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 between the steps 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 opposite side of the slider connecting portion 1444 is connected to the slider 1445.

[0076] In this embodiment, the plug-in portions 1442 are elongated and have at least two of them, preferably the same number as the spacing between the steps 1311 in the box body 131, so that they can be accurately inserted into the spacing between the steps 1311 and can stably receive the items in the box body 131 or the tray 134 with items. The limiting portion 1443 and the screw connecting portion 1441 are arranged at the 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. It can play a certain role in limiting the position of the items or the tray 134 and prevent them from sliding along the length direction of the plug-in portion 1442. In an embodiment in which a rib 1341 is provided at the bottom of the tray 134, the plug-in portion 1442 can be inserted into the gap between the ribs 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 manipulator module 14 can more stably transport items in the tray 134. The screw connecting 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 1433. The slider connecting portion 1444 is inserted on both sides of the plug-in portion 1442, and the two slider connecting portions 1444 are connected to the opposite sides with sliders 1445. 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 figures) is provided on the fork plate 144 . The fifth sensor is in communication with the terminal system and is used to detect the horizontal movement distance of the fork plate 144 .

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

[0079] See also Figures 1 to 18, combined 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 suspended rotation state); the translation component 143 controls the fork plate 144 to move into the box body 131 The fork plate 144 moves upwards for a certain distance so that the rib 1341 at the bottom of the tray 134 leaves the step 1311, thereby making the fork plate 144 lift the tray 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 rotation 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 first pickup window 111, so that the tray 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 items.

[0080] See also Figure 19 as well as Figure 20 In some embodiments, the storage cabinet 1 further includes an automatically opening and closing 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 cargo receiving 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 disposed on the inner side of the panel 113 where the first cargo receiving window 111 is located. The door panel 172 is inserted into a socket in the mounting frame 171. Guide rods 178 are provided on both sides of the mounting frame 171. Sliding blocks 179 that cooperate with the guide rods 178 may be connected to both sides of the door panel 172 to allow the door panel 172 to move relative to the mounting frame 171 in the socket along the axis of the guide rods 178. The area of ​​the door panel 172 is larger than that of the first cargo receiving window 111, so that it can close the first cargo receiving window 111.

[0082] The pickup door assembly 17 may further include a lining plate 173, a fifth motor 174, a drive rod 175, a rocker arm 176, a slide 177, and a sixth sensor 17a. The lining plate 173 is fixed to the inside of the door panel 172. The fifth motor 174 is mounted on a side edge of the mounting bracket 171. The output shaft of the fifth motor 174 is perpendicular to the door panel 172 and faces inward. One end of the drive rod 175 is connected to the output shaft of the fifth motor 174. One end of the rocker arm 176 is connected to the frame 1741 of the fifth motor 174 via a rotating shaft. A protrusion at the other end of the drive rod 175 is positioned within a slot in the rocker arm 176, allowing the other end of the drive rod 175 to slide within the slot. A protrusion at the other end of the rocker arm 176 is positioned within a slideway 177, allowing the other end of the rocker arm 176 to slide within the slot. The slideway 177 is fixed to the lining plate 173 and preferably positioned horizontally. In this manner, the fifth motor 174 controls the back-and-forth movement of the door panel 172 along the axis of the guide rod 178. A sixth sensor 17a is positioned inside the door panel 172 and is in communication with the terminal system. It detects the distance traveled by the door panel 172 and determines whether it is open or closed. A seventh sensor 17b is further provided on the inner side of the mounting frame 171 . The seventh sensor 17b is communicatively connected to 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. The screen 18 can also display the storage status of the storage cabinet 1, such as the number of free storage box units 13. The storage window 112 is provided with an automatically opening hatch. The opening principle of the hatch is conventional, such as spring control, and will not be further described here.

[0084] See also Figure 21In some embodiments, the delivery robot 2 further includes a main body 21 and a closing pad 24. The main body 21 has an internal heat preservation chamber for storing items, and the telescopic plate 22 is disposed within the heat preservation chamber and can enter and exit the heat preservation chamber. A baffle 23 is provided at one end of the telescopic plate 22. The baffle 23 is used to seal the heat preservation chamber on one hand and to limit the position of 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 spaced bosses 241. The number of spaces between the bosses 241 is at least greater than the number of the plug-in portions 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 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 rib 1341 of the tray 134 overlaps the boss 241 of the closing pad 24, and the lifting assembly 141 then 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 meal or goods picking. 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 device disclosed in an 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. By providing a rotating rack assembly 12 in the storage cabinet 1, a storage box unit 13 is arranged on the rotating rack assembly 12, and a manipulator module 14 is provided to cooperate with the delivery robot 2 to achieve automatic delivery, thereby improving the problem of chaos at the meal preparation site and improving meal delivery efficiency. In addition, the delivery robot 2 can maintain its original height and can retrieve any meal in the storage cabinet 1, avoiding the problem of traditional storage cabinets 1 requiring manual assistance. It also solves the problem of inconvenience in transportation caused by the increased 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 Figure 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 No. 1, No. 2, No. 3... No. 20 and No. 21.

[0089] S120: Pre-establish a table of correspondence between the cabinet entry time and the storage box unit number.

[0090] An empty table of the correspondence between the cabinet 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 the correspondence 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 placed in any of the storage box units, the cabinet entry time data and the number information of the storage box unit in which the food is placed are stored in the stored correspondence table in descending order to obtain a correspondence table.

[0092] When the second sensor on the box body of the storage box unit detects that food is placed inside, the number information of the storage box unit is sent to the terminal system. The terminal system records the reception time while receiving the number data of the storage box unit. The reception time is the time of entry into the cabinet. The terminal system stores the received number information and the recorded reception 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 based on 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 storage box unit number in the top row of the correspondence table moves to a preset position.

[0097] If the distance between the positions 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 rotation, 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, moving the storage box unit No. 7 to the preset position. The preset position is a position convenient for the robot module to pick up the food, such as the second pickup window (or 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 (such as the support rod where the storage box unit No. 7 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 with no 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 to move the storage box unit with no items inside to the storage window. In this way, people can operate quickly when they come to store 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: Figure 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 further 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 one row 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 executing 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 merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A control method, applied to a storage and distribution device, characterized in that: The storage and delivery equipment includes a storage cabinet and a delivery robot; the storage cabinet includes: A cabinet body, wherein the cabinet body is provided with a first pickup window and a storage window; a rotating frame assembly disposed in the cabinet, the rotating frame assembly comprising a main shaft, a plurality of support rods, a transmission mechanism, and a first motor, one end of the plurality of support rods being connected to the main shaft, the transmission mechanism connecting the first motor and the main shaft so that the first motor drives the main shaft to rotate; a plurality of storage box units disposed in the cabinet for storing articles, wherein the plurality of storage box units are disposed on the plurality of support rods, and the plurality of support rods rotate with the main shaft so that any of the storage box units is disposed opposite to the storage window; and A robot module is disposed in the cabinet and is used to transport the items in the storage box unit to the first pickup window; The delivery robot includes a telescopic plate capable of entering and exiting the cabinet through the first pickup window, the telescopic plate cooperating with the manipulator module to remove items from the cabinet, the storage cabinet and the delivery robot are both communicatively connected to a terminal system; the method includes: encoding the plurality of storage box units; Pre-establishing a table of correspondence between entry time and storage box unit number; When food is placed in any of the storage box units, the 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 storage box unit number in the top row of the correspondence table moves to the preset position.

2. The control method according to claim 1, 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.

3. A storage and distribution equipment, characterized in that: The storage and distribution equipment is used to execute the control method as described in claim 1 or 2; the manipulator 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 and lowering movements, rotational movements and horizontal movements within the cabinet body.

4. The storage and delivery equipment according to claim 3, characterized in that: The lifting assembly includes a second motor, a lifting screw rod cooperating with the second motor and a fixed plate, and the fixed plate is threadedly engaged with the lifting screw rod so that the second motor drives the fixed plate to perform lifting 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 cooperating 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 engaged with the horizontal screw rod so that the fourth motor drives the fork plate to perform horizontal movement along the axial direction of the horizontal screw rod.

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

6. The storage and delivery equipment according to claim 3, characterized in that: Each of the storage box units includes 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.

7. The storage and delivery equipment according to claim 6, 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 spaced ribs are provided on the outer side of the bottom of the tray, and the number and direction of the ribs correspond to the number and direction of the steps.

8. The storage and delivery equipment according to claim 3, characterized in that: The storage cabinet further includes an automatically opened and closed cargo pickup door assembly, wherein the cargo pickup door assembly is arranged at the first cargo pickup window to open or close the first cargo pickup window.

9. The storage and delivery equipment according to claim 8, characterized in that: The cargo picking door assembly includes a mounting frame, a door panel, a guide rod, a sliding block, a lining plate, a driving rod, a rocker arm, a slide and a fifth motor; the mounting frame is arranged on the inner side of the first cargo picking 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 two sides of the door panel are connected to the sliding blocks cooperating with the guide rods; the lining plate is fixed to the inner side of the door panel, and the fifth motor is mounted on the side edge of the mounting frame, and the output shaft of the fifth motor is perpendicular to the door panel and 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 slide, and the slide 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.

Images