Storage and distribution equipment and distribution method

Abstract

The invention discloses storage and distribution equipment and a distribution method. The equipment comprises a storage cabinet, a distribution robot and an automatic tray collecting device. The storage cabinet comprises a first cabinet body, a circulating motion mechanism, a plurality of storage box units and a pushing mechanism; the circulating motion mechanism is arranged in the first cabinet body; the plurality of storage box units are connected with the circulating motion mechanism, and each storage box unit comprises a box body and a tray; the pushing mechanism is used for pushing the trays and the goods to the goods taking opening together; the distribution robot comprises a telescopic plate, and the telescopic plate is matched with the pushing mechanism to take out the tray and articles in the tray; the automatic tray collecting device is used for collecting trays. A person can store articles in the storage box units, a telescopic plate of the distribution robot can enter the first cabinet body, the pushing mechanism pushes trays and the articles to the telescopic plate together, the distribution robot achieves automatic distribution by retracting the telescopic plate, and the problem that a catering site is disordered is solved; the automatic tray collection device can automatically complete tray collection, and the meal delivery efficiency is improved.

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 distribution 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, which makes the robots work inefficiently and there will also be chaos at the meal preparation site. After the robot delivers the meal, the tray inside it needs to be taken out by a person, affecting the efficiency of meal delivery. Summary of the invention

[0004] In order to solve the problems in the prior art, the present invention provides a storage and distribution device and a distribution method.

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

[0006] A first cabinet, wherein the first cabinet is provided with a cargo pickup port and a cargo storage port;

[0007] A circulating motion mechanism, disposed in the first cabinet;

[0008] A plurality of storage box units are arranged in the first cabinet, the plurality of storage box units are connected to the circulating motion mechanism, the storage box units include a box body and a tray arranged in the box body, the tray is used to hold articles; and

[0009] A pushing mechanism is arranged in the first cabinet, the circulating motion mechanism drives the plurality of storage box units to perform a circulating motion, so that any of the storage box units can move back and forth between a first position and a second position, the first position being a position where the storage box unit is relative to the storage port, the second position being a position where the storage box unit is relative to the pushing mechanism, and the pushing mechanism is used to push the tray and the items in the tray to the pickup port together;

[0010] The delivery robot comprises a telescopic plate capable of entering and exiting the first cabinet from the pickup port, and the telescopic plate cooperates with the pushing mechanism to take out the tray and the items in the tray;

[0011] The automatic tray closing device is arranged at one side of the first cabinet and is used for recovering the tray.

[0012] In some embodiments, the automatic closing device comprises:

[0013] A second cabinet, wherein the second cabinet is provided with a storage bin for storing the trays, the storage bin has at least one third opening for personnel to take out and / or put back the trays, a fourth opening is provided at the bottom of the storage bin, and a closing opening for recovering the trays is provided on the side of the second cabinet, and the closing opening is arranged below the storage bin;

[0014] A magnetic grab plate, used for grabbing the tray, the magnetic grab plate being arranged opposite to the tray closing opening;

[0015] A translation assembly is arranged below the fourth opening, the translation assembly is connected to the magnetic grab plate, and is used to control the magnetic grab plate to enter and exit the second cabinet from the closing opening, so that after the tray grabbed by the magnetic grab plate enters the second cabinet, it has a state of being located below the fourth opening;

[0016] The lifting assembly is arranged below the fourth opening. When the tray is located below the disk storage bin, the lifting assembly is lifted upward to lift the tray from the fourth opening into the disk storage bin.

[0017] In some embodiments, the automatic closing device also includes a dividing shaft and a dividing block sleeved on the dividing shaft, the dividing block and the dividing shaft are arranged on two opposite sides of the closing bin, the dividing block rotates around the axis of the dividing shaft so that the two dividing blocks can be converted between a horizontal state and a non-horizontal state, when the two dividing blocks are in the horizontal state, the distance between the ends of the two dividing blocks is less than the distance between the two opposite edges of the tray; when the two dividing blocks are in the non-horizontal state, the distance between the ends of the two dividing blocks is greater than or equal to the distance between the two opposite edges of the tray.

[0018] In some embodiments, the circulating motion mechanism includes two first chains arranged at intervals, the first chains are in the shape of a runway, the long axis of the first chain is perpendicular to the bottom surface of the first cabinet, the two planes where the two first chains are located are parallel to each other, the two first chains are arranged opposite to each other, and the two planes where the two first chains are located are parallel to the plane where the storage port is located; the plurality of storage box units are arranged between the two first chains and are all connected to the two first chains.

[0019] In some embodiments, the cyclic motion mechanism further comprises:

[0020] A main frame, fixedly disposed in the first cabinet;

[0021] A first motor is arranged on the main frame;

[0022] A first single-row gear connected to an output shaft of the first motor;

[0023] A double-row gear, disposed below the first single-row gear;

[0024] A second chain simultaneously connects the first single-row gear and one of the rows of gears of the double-row gear;

[0025] A second single-row gear is disposed above the double-row gear, wherein one of the first chains simultaneously connects the other row of gears of the double-row gear and the second single-row gear;

[0026] a third single-row gear and a fourth single-row gear, wherein the third single-row gear is arranged opposite to the double-row gear, the fourth single-row gear is arranged opposite to the second single-row gear, and another first chain simultaneously connects the third single-row gear and the fourth single-row gear;

[0027] A first connecting shaft connecting the third single-row gear and the double-row gear; and

[0028] The second connecting shaft connects the fourth single-row gear and the second single-row gear.

[0029] In some embodiments, the storage box unit also includes a third connecting shaft and a longitudinally elongated rotating connecting plate. A hanging ear is provided on the top of the box body, and the third connecting shaft is passed through the hanging ear. One end of the rotating connecting plate is connected to the first chain, and the other end of the rotating connecting plate is connected to the first chain.

[0030] In some embodiments, the box body is provided with a first opening, a second opening and a push port; the first opening is arranged toward the storage port, the second opening is arranged opposite to the push port, and the push port is arranged opposite to the push mechanism.

[0031] In some embodiments, the pushing structure includes: a first pushing base plate, a second motor, a second pushing base plate, a third pushing base plate, a first transmission assembly, a second transmission assembly and a pushing plate; the first pushing base plate is fixed to the main frame, the second motor is arranged on the first pushing base plate, the second pushing base plate is arranged above the first pushing base plate, and the third pushing base plate is arranged above the second pushing base plate; the first transmission assembly connects the output shaft of the second motor with the second pushing base plate, so that the second pushing base plate moves relative to the first pushing base plate in a direction close to or away from the pushing port; the second transmission assembly is used to make the third pushing base plate move in the same direction as the second pushing base plate while the second pushing base plate moves; the pushing plate is arranged at one end of the third pushing base plate close to the pushing port, and the size of the pushing plate is smaller than the size of the pushing port.

[0032] In some embodiments, the first transmission assembly includes a first synchronous wheel, a second synchronous wheel, a first synchronous belt, a first synchronous pressure plate, and a first pressure plate fixing member; the first synchronous wheel is connected to the output shaft of the second motor, the straight line formed by the second synchronous wheel and the first synchronous wheel is perpendicular to the plane where the push port is located, the first synchronous belt is simultaneously sleeved on the first synchronous wheel and the second synchronous wheel, the first synchronous pressure plate and the first pressure plate fixing member are clamped on the first synchronous belt together, and the first pressure plate fixing member is fixedly connected to the second push bottom plate;

[0033] The second transmission assembly includes a third synchronous wheel, a fourth synchronous wheel, a second synchronous belt, a second synchronous pressure plate, a second pressure plate fixing member, a third synchronous pressure plate and a third pressure plate fixing member; the third synchronous wheel and the fourth synchronous wheel are arranged on the second pushing plate, and the straight line connected by the third synchronous wheel and the fourth synchronous wheel is perpendicular to the plane where the pushing port is located, the second synchronous belt is simultaneously sleeved on the third synchronous wheel and the fourth synchronous wheel, the second synchronous pressure plate and the second pressure plate fixing member are clamped on the second synchronous belt, the second pressure plate fixing member is fixedly connected to the first pushing bottom plate, the third synchronous pressure plate and the third pressure plate fixing member are clamped on the second synchronous belt, and the third pressure plate fixing member is fixedly connected to the third pushing plate.

[0034] In a second aspect, the present invention discloses a distribution method, which is applied to the storage and distribution equipment described in the first aspect, and the storage and distribution equipment also includes a controller, a temperature sensor and an identification device that are communicatively connected to the controller; the controller is communicatively connected to a terminal server; the temperature sensor is arranged in the box body, and is used to identify the temperature of the items in the box body; the identification device is arranged on the pushing mechanism, and is used to identify the box body; the method includes: if it is detected that an item is placed in the box body, obtaining the entry time and entry temperature of the item; judging whether the interval between the entry times of the items in each box body is greater than a preset value; if the interval between the entry times is greater than the preset value, giving priority to delivering items with an earlier entry time; if the interval between the entry times is not greater than the preset value, giving priority to delivering items with a higher entry temperature.

[0035] The beneficial effects of the present invention are as follows: personnel can store prepared items in the storage box unit of the storage cabinet through the storage port, and by arranging a circulating motion mechanism in the storage cabinet, the storage box unit and the circulating motion mechanism are connected, and the circulating motion mechanism moves to transport the storage box unit containing the items to the pushing mechanism, and the telescopic plate of the delivery robot can enter the first cabinet from the pickup port, and the pushing mechanism pushes the tray and the items onto the telescopic plate of the delivery robot together, and the delivery robot retracts the telescopic plate, takes out the meal, and delivers the meal to the destination, thereby realizing automatic delivery and improving the problem of chaos on the meal preparation site; after the delivery robot delivers the last meal, it returns to the storage cabinet, and the automatic tray closing device can automatically complete the tray recovery, and the delivery robot proceeds to pick up the next meal, thereby improving the meal delivery efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] 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.

[0037] Figure 1 An external structural diagram of a storage and delivery device provided by an embodiment of the present invention;

[0038] Figure 2 An external structural diagram of a storage cabinet provided in an embodiment of the present invention;

[0039] Figure 3 An internal structural diagram of a storage cabinet provided by an embodiment of the present invention;

[0040] Figure 4 for Figure 3 a side view of the storage cabinet shown;

[0041] Figure 5 for Figure 3 a front view of the storage cabinet shown;

[0042] Figure 6 Another internal structure diagram of a storage cabinet provided by an embodiment of the present invention;

[0043] Figure 7 for Figure 6 An enlarged schematic diagram of a portion A of the storage cabinet shown;

[0044] Figure 8 A structural diagram of a storage box unit provided by an embodiment of the present invention;

[0045] Fig. 9 A schematic diagram of the operation of the push mechanism provided by an embodiment of the present invention;

[0046] Fig.10 Another working schematic diagram of the pushing mechanism provided by an embodiment of the present invention;

[0047] Fig.11 A structural diagram of a push mechanism provided in an embodiment of the present invention;

[0048] Fig.12 for Fig.11 An enlarged schematic diagram of Node B of the push mechanism shown;

[0049] Fig.13 A structural diagram of an automatic tray closing device and a delivery robot provided in an embodiment of the present invention;

[0050] Fig.14 An external structural diagram of an automatic closing device provided by an embodiment of the present invention;

[0051] Fig.15 An internal structural diagram of an automatic closing device provided by an embodiment of the present invention;

[0052] Fig.16 A diagram showing the internal structure of the automatic closing device provided by an embodiment of the present invention from another perspective;

[0053] Fig.17 A storage and delivery device provided by another embodiment of the present invention;

[0054] Fig.18 A schematic block diagram of a storage cabinet provided in an embodiment of the present invention;

[0055] Fig.19 A step diagram of a distribution method provided in an embodiment of the present invention.

[0056] Reference numerals: 1, storage cabinet; 11, first cabinet; 111, storage port; 112, cargo pickup port; 12, circulating motion mechanism; 121, first chain; 122, main frame; 1221, bottom frame; 1222, upper frame; 123, first motor; 124, first single-row gear; 125, double-row gear; 126, second chain; 127, second single-row gear; 128, third single-row gear; 129, fourth single-row gear; 1210 , first connecting shaft; 1211, second connecting shaft; 1212, connecting angle code; 13, storage box unit; 131, box body; 1311, hanging ear; 1312, first opening; 1313, second opening; 1314, push port; 132, tray; 133, third connecting shaft; 134, rotating connecting plate; 14, push mechanism; 141, first push bottom plate; 142, second motor; 143, second push bottom plate; 144, third push bottom plate; 1 45. First transmission assembly; 1451. First synchronous wheel; 1452. Second synchronous wheel; 1453. First synchronous belt; 1454. First synchronous pressure plate; 1455. First pressure plate fixing member; 146. Second transmission assembly; 1461. Third synchronous wheel; 1462. Fourth synchronous wheel; 1463. Second synchronous belt; 1464. Second synchronous pressure plate; 1465. Second pressure plate fixing member; 1466. Third synchronous pressure plate; 1467. Third pressure plate Fixing parts; 147, push plate; 148, fixed sheet metal; 149, guide plate; 1410, sliding assembly; 14101, first slider; 14102, first guide rail; 14103, second slider; 14104, second guide rail; 1411, guide rail in place sensor; 1412, photoelectric switch; 15, pickup door; 16, storage door; 17, display screen; 18, through-beam sensor; 19, controller; 20, temperature sensor; 24, identification device.

[0057] 2. Delivery robot; 21. Robot body; 22. Telescopic plate; 23. Baffle;

[0058] 3. Automatic closing device; 31. Second cabinet; 311. Storage bin; 3111. Third opening; 3112. Fourth opening; 312. Closing opening; 32. Magnetic grab plate; 33. Translation assembly; 331. Third motor; 332. First drive shaft; 333. Second drive shaft; 334. First drive gear; 335. Third chain; 34. Lifting assembly; 341. Fourth motor; 342. Second drive gear; 343. Rack; 344. Lifting push plate; 35. Partition block; 36. Partition shaft. DETAILED DESCRIPTION

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] like Figures 1 to 16 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-out, and can be configured in the hotel lobby or downstairs of a residential area.

[0065] Read also Figure 1 and Figure 8 , the storage and delivery equipment may include a storage cabinet 1, a delivery robot 2, and an automatic closing device 3. The storage cabinet 1 can be used to store hotel meals or takeouts, and hotel staff or deliverymen can put the prepared meals or takeouts into the storage cabinet 1. The storage cabinet 1, the delivery robot 2, and the automatic closing device 3 are connected to the terminal server in communication. When the meals or takeouts are put into the storage cabinet 1, the storage cabinet 1 sends information to the terminal server, and the terminal server sends a work instruction to the delivery robot 2. After the delivery robot 2 takes the meals or takeouts, it delivers them to the corresponding destination, which can be the door of a room in a hotel or community. After the delivery robot 2 completes the meal delivery, the tray 132 containing the meals is still in the delivery robot 2. The delivery robot 2 moves to the position of the automatic closing device 3, and the automatic closing device 3 automatically completes the recovery of the tray 132.

[0066] Read also Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 The storage cabinet 1 may include a first cabinet 11, a circulating motion mechanism 12 disposed in the first cabinet 11, a plurality of storage box units 13, and a pushing mechanism 14. The first cabinet 11 is provided with a pickup port 112 and a storage port 111. The plurality of storage box units 13 are connected to the circulating motion mechanism 12, and the storage box unit 13 includes a box body 131 and a tray 132 disposed in the box body 131, and the tray 132 is used to hold items. The items are the above-mentioned hotel meals or take-outs. The circular motion mechanism 12 drives a plurality of storage box units 13 to perform circular motion, so that any storage box unit 13 can move back and forth between a first position and a second position. The first position is a position where the storage box unit 13 is opposite to the storage port 111. Hotel staff or delivery personnel can put the prepared meals into the box body 131 through the storage port 111, and specifically put them on the tray 132. The second position is a position where the storage box unit 13 is opposite to the push mechanism 14. The push mechanism 14 is used to push the tray 132 and the items in the tray 132 to the pickup port 112. The delivery robot 2 includes a telescopic plate 22 that can enter and exit the first cabinet 11 from the pickup port 112. The telescopic plate 22 cooperates with the push mechanism 14 to take out the tray 132 and the items in the tray 132. The push mechanism 14 can push the items and the tray 132 from the box body 131 to the telescopic plate 22 of the delivery robot 2. The delivery robot 2 retracts the telescopic plate 22 to complete the meal pickup. The automatic tray closing device 3 is disposed on one side of the first cabinet 11 and is used for recovering the tray 132 .

[0067] Read also Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 In some embodiments, the first cabinet 11 is in the shape of a rectangular parallelepiped as a whole, including a front face, a rear face, a left face, a right face, a top face and a bottom face, wherein the front face and the rear face have the largest area, and the top face and the bottom face have the smallest area. The storage port 111 and the pickup port 112 may be arranged on the same surface, for example, the storage port 111 and the pickup port 112 are both arranged on the front face. Hotel staff or deliverymen can put meals or takeaways into the storage box unit 13 in the first cabinet 11 through the storage port 111. The delivery robot 2 takes the meals or takeaways out of the first cabinet 11 through the pickup port 112. The pickup port 112 is closer to the ground than the storage port 111 to adapt to the height of the delivery robot 2 and the height of the storage personnel (i.e., the above-mentioned hotel staff or deliverymen). Since the storage box unit 13 can move with the rotating circular motion structure, any storage box unit 13 can move to the first position and the second position mentioned above, so the number of storage ports 111 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 the items in any storage box unit 13 in the first cabinet 11 at the pickup port 112, 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, reducing the possibility of the delivery robot 2 colliding with other objects during the displacement process, and making it more convenient to transport.

[0068] In other embodiments, the storage port 111 and the pickup port 112 may not be arranged on the same surface. For example, the storage port 111 is arranged on the front side, and the pickup port 112 is arranged on the left side or the right side, so that the working areas of the personnel and the delivery robot 2 are separated so that their work is not affected by each other.

[0069] Read also Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 In some embodiments, the circulating motion mechanism 12 includes two first chains 121 arranged at intervals, the first chains 121 are in the shape of a runway, the long axis of the first chain 121 is perpendicular to the bottom surface of the first cabinet 11, the two planes where the two first chains 121 are located are parallel to each other, the two first chains 121 are arranged opposite to each other, and the two planes where the two first chains 121 are located are parallel to the plane where the storage port 111 is located; a plurality of storage box units 13 are arranged between the two first chains 121, and are all connected to the two first chains 121.

[0070] Specifically, the two planes where the two first chains 121 are located are parallel to the front end surface of the first cabinet 11, the long center axis of the "runway" surrounded by the first chains 121 is perpendicular to the top and bottom surfaces of the first cabinet 11, and the short center axis of the "runway" is perpendicular to the left and right sides of the first cabinet 11. The boxes 131 of the plurality of storage box units 13 are spaced apart between the two first chains 121 and connected to the two first chains 121, so that when the first chain 121 moves, the storage box units 13 can be driven to move together.

[0071] In some embodiments, the circulating motion mechanism 12 also includes a robot body 21 frame 122, a first motor 123, a first single-row gear 124, a double-row gear 125, a second chain 126, a second single-row gear 127, a third single-row gear 128 and a fourth single-row gear, a first connecting shaft 1210, a second connecting shaft 1211 and a plurality of connecting angle codes 1212.

[0072] The frame 122 of the robot body 21 is fixedly arranged in the first cabinet 11. The first motor 123 is arranged on the frame 122 of the robot body 21, and the output shaft of the first motor 123 is perpendicular to the rear side of the first cabinet 11. The first single-row gear 124 is connected to the output shaft of the first motor 123. The double-row gear 125 is arranged below the first single-row gear 124, and the two rows of gears of the double-row gear 125 have the same diameter and rotate synchronously, and the diameter of the double-row gear 125 is greater than the diameter of the first single-row gear 124. The second chain 126 simultaneously connects the first single-row gear 124 and one row of gears of the double-row gear 125. The second single-row gear 127 is arranged above the double-row gear 125, and the diameter of the second single-row gear 127 is the same as the diameter of the double-row gear 125. One of the first chains 121 simultaneously connects the other row of gears of the double-row gear 125 and the second single-row gear 127, so that the first motor 123 drives one of the first chains 121 to rotate. The third single-row gear 128 is arranged opposite to the double-row gear 125, and the fourth single-row gear 129 is arranged opposite to the second single-row gear 127. The diameters of the third single-row gear 128, the double-row gear 125, the fourth single-row gear 129 and the second single-row gear 127 are the same. Another first chain 121 connects the third single-row gear 128 and the fourth single-row gear 129 at the same time. The first connecting shaft 1210 connects the third single-row gear 128 and the double-row gear 125, and the second connecting shaft 1211 connects the fourth single-row gear 129 and the second single-row gear 127. In this way, the first motor 123 can drive the two "track-type" first sprockets to circulate. A plurality of connecting angle codes 1212 are arranged on the two first chains 121, and can be arranged on the opposite sides of the two first chains 121, which are used to connect the first chains 121 and the box bodies 131 of the plurality of storage box units 13.

[0073] Read also Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 In some embodiments, the robot body 21 frame 122 includes a bottom frame 1221 and an upper frame 1222 composed of a plurality of crossbars and vertical bars. The bottom frame 1221 is parallel to the bottom surface of the first cabinet 11 as a whole and is arranged on the bottom surface. The upper frame 1222 is arranged on the bottom frame 1221, and the cross-sectional area of ​​the bottom frame 1221 is greater than the cross-sectional area of ​​the upper frame 1222, so that the bottom frame 1221 can more stably support the upper frame 1222, and specifically, the two ends of the bottom frame 1221 can be extended in a direction away from the upper frame 1222. The upper frame 1222 may include two first vertical bars close to the front end surface of the first cabinet 11, two second vertical bars close to the rear end surface of the first cabinet 11, and a plurality of cross bars arranged between the first vertical bars and the second vertical bars. The cross bars are used to improve the overall strength of the upper frame 1222 on the one hand, and on the other hand, they are used to support the first motor 123, the first connecting shaft 1210, and the second connecting shaft 1211. The first vertical pole and the second vertical pole are arranged in a rectangular distribution, wherein the first motor 123 is fixed on the cross bar between the first vertical poles, the first connecting shaft 1210 and the second connecting shaft 1211 are arranged on the cross bar between the first vertical pole and the second vertical pole through bearings and fixing frames, wherein the cross bar for supporting the second connecting shaft 1211 is arranged on the top of the first vertical pole and the second vertical pole.

[0074] Referring to FIG. 8 , in some embodiments, the storage box unit 13 further includes a third connecting shaft 133 and a longitudinal rotating connecting plate 134 . A hanging ear 1311 is provided on the top of the box body 131 . The third connecting shaft 133 is passed through the hanging ear 1311 . One end of the rotating connecting plate 134 is connected to the first chain 121 , and the other end of the rotating connecting plate 134 is connected to the first chain 121 .

[0075] Specifically, a pair of hanging ears 1311 is provided on the top of the box body 131, and the hanging ears 1311 are arranged on the edge of the top of the box body 131, and the two ends of the third connecting shaft 133 are respectively inserted into the two hanging ears 1311, and the two ends of the third connecting shaft 133 are respectively one end of two rotating connecting plates 134, and the other end of the rotating connecting plate 134 is fixedly connected to the connecting angle code 1212 on the first chain 121 by bolts, so that when the first chain 121 circulates, it drives the rotating connecting plate 134 to move, and then drives the box body 131 to do a circular motion; and the top of the box body 131 and the rotating connecting plate 134 form an axial connection, so that the box body 131 can always keep the hanging ears 1311 facing upward during the circular motion, to ensure that the food placed therein will not tilt or fall over.

[0076] In some embodiments, the box body 131 is provided with a first opening 1312 , a second opening 1313 and a push port 1314 ; the first opening 1312 is arranged toward the storage port 111 , the second opening 1313 is arranged opposite to the push port 1314 , and the push port 1314 is arranged opposite to the push mechanism 14 .

[0077] Specifically, the first opening 1312 is arranged toward the storage opening 111 to facilitate personnel to put food into the box body 131. When putting food into the box body 131, the personnel can take out the tray 132 from the automatic tray closing device 3, put the food into the tray 132, and then put the tray 132 and the food into the box body 131 in the first cabinet 11. A protrusion having a limiting function can be arranged at the bottom of the first opening 1312 to prevent the tray 132 and the food from slipping out of the first opening 1312. The second opening 1313 is opened toward the right side of the first cabinet 11, and the pushing port 1314 is opened toward the left side of the first cabinet 11. The pushing port 1314 is arranged opposite to the pushing mechanism 14, so that the pushing mechanism 14 can enter the box body 131 from the pushing port 1314, push the food or the tray 132, so that the food and the tray 132 are pushed out from the second opening 1313, thereby moving the food and the tray 132 in the box body 131 to the telescopic plate 22 of the delivery robot 2 entering the first cabinet 11.

[0078] Read also Fig. 9 , Fig.10 , Fig.11 and Fig.12 In some embodiments, the pushing structure includes: a first pushing base plate 141 , a second motor 142 , a second pushing base plate 143 , a third pushing base plate 144 , a first transmission assembly 145 , a second transmission assembly 146 and a pushing plate 147 .

[0079] Among them, the first pushing base plate 141 is fixed on the frame 122 of the robot body 21, the second motor 142 is arranged on the first pushing base plate 141, the second pushing base plate 143 is arranged above the first pushing base plate 141, and the third pushing base plate 144 is arranged above the second pushing base plate 143; the first transmission assembly 145 connects the output shaft of the second motor 142 with the second pushing base plate 143, so that the second pushing base plate 143 moves relative to the first pushing base plate 141 in the direction close to the pushing port 1314 or away from the pushing port 1314; the second transmission assembly 146 is used to make the third pushing base plate 144 move in the same direction as the second pushing base plate 143 while the second pushing base plate 143 moves; the push plate 147 is arranged at one end of the third pushing base plate 144 close to the pushing port 1314, and the size of the push plate 147 is smaller than the size of the push port 1314.

[0080] Specifically, the push mechanism 14 may also include a fixed sheet metal 148, a guide plate 149, a sliding assembly 1410, a guide rail in-position sensor sheet 1411 and a photoelectric switch 1412. The top of the fixed sheet metal 148 is fixed on a crossbar of the robot body 21 frame 122 of the cyclic motion mechanism 12, and the first push bottom plate 141 is fixed on the inner side of the bottom of the fixed sheet metal 148. The first push bottom plate 141, the second push bottom plate 143 and the third push bottom plate 144 are all parallel to the bottom surface of the first cabinet 11. The guide plate 149 is arranged at one end of the first push bottom plate 141 close to the push port 1314, and the middle part of the guide plate 149 is provided with an opening that allows the second push bottom plate 143 and the third push bottom plate 144 to pass through. The sliding assembly 1410 is arranged between the first push bottom plate 141 and the second push bottom plate 143, and between the second push bottom plate 143 and the third push bottom plate 144, so as to facilitate the movement of the second push bottom plate 143 and the third push bottom plate 144. The guide rail in-place sensing sheet 1411 is arranged at the bottom of the second pushing base plate 143, and the photoelectric switch 1412 is arranged on the first pushing base plate 141, which is electrically connected to the second motor 142. Two photoelectric switches 1412 can be set, and the straight line connected by the two photoelectric switches 1412 is in the same direction as the movement of the second pushing base plate 143. The guide rail in-place sensing sheet 1411 is located between the two photoelectric switches 1412, and the distance between the two photoelectric switches 1412 is the preset movement distance of the second pushing base plate 143 and the third pushing base plate 144. When the guide rail in-place sensing sheet 1411 touches any photoelectric switch 1412 during the movement with the second pushing base plate 143, the corresponding photoelectric switch 1412 controls the second motor 142 to reverse, thereby changing the movement direction of the second pushing base plate 143 and the third pushing base plate 144, and completing the pushing movement and return movement of the pushing structure.

[0081] Read also Fig. 9 , Fig.10 , Fig.11 and Fig.12 In some embodiments, the first transmission assembly 145 includes a first synchronous wheel 1451, a second synchronous wheel 1452, a first synchronous belt 1453, a first synchronous pressure plate 1454 and a first pressure plate fixing piece 1455; the first synchronous wheel 1451 is connected to the output shaft of the second motor 142, the straight line formed by the second synchronous wheel 1452 and the first synchronous wheel 1451 is perpendicular to the plane where the push port 1314 is located, the first synchronous belt 1453 is simultaneously mounted on the first synchronous wheel 1451 and the second synchronous wheel 1452, the first synchronous pressure plate 1454 and the first pressure plate fixing piece 1455 are clamped on the first synchronous belt 1453 together, and the first pressure plate fixing piece 1455 is fixedly connected to the second pushing base plate 143.

[0082] Specifically, the first synchronous pressure plate 1454 and the first pressure plate fixing piece 1455 are clamped together at the clamping point on one side of the first synchronous belt 1453, so that when the second motor 142 drives the first synchronous wheel 1451, the second synchronous wheel 1452 cooperates with the first synchronous wheel 1451 to drive the first synchronous belt 1453 to move, and the clamping point of the first synchronous belt 1453 makes a reciprocating linear motion between the first synchronous wheel 1451 and the second synchronous wheel 1452. Since the first pressure plate fixing piece 1455 is fixedly connected to the second pushing base plate 143, when the first synchronous belt 1453 moves, it drives the second pushing base plate 143 to make a reciprocating linear motion along with the clamping point.

[0083] The second transmission assembly 146 includes a third synchronous wheel 1461, a fourth synchronous wheel 1462, a second synchronous belt 1463, a second synchronous pressure plate 1464, a second pressure plate fixing member 1465, a third synchronous pressure plate 1466 and a third pressure plate fixing member 1467; the third synchronous wheel 1461 and the fourth synchronous wheel 1462 are arranged on the second push plate, and the straight line connected by the third synchronous wheel 1461 and the fourth synchronous wheel 1462 is perpendicular to the plane where the push port 1314 is located, the second synchronous belt 1463 is simultaneously sleeved on the third synchronous wheel 1461 and the fourth synchronous wheel 1462, the second synchronous pressure plate 1464 and the second pressure plate fixing member 1465 are clamped on the second synchronous belt 1463, the second pressure plate fixing member 1465 is fixedly connected to the first push bottom plate 141, the third synchronous pressure plate 1466 and the third pressure plate fixing member 1467 are clamped on the second synchronous belt 1463, and the third pressure plate fixing member 1467 is fixedly connected to the third push plate.

[0084] Specifically, the second synchronous pressure plate 1464 and the second pressure plate fixing member 1465 are clamped at the supporting point on one side of the second synchronous belt 1463 , and the third synchronous pressure plate 1466 and the third pressure plate fixing member 1467 are clamped at the supporting point on the other side of the second synchronous belt 1463 . When the second pushing base plate 143 moves relative to the first pushing base plate 141, the third synchronous wheel 1461 and the fourth synchronous wheel 1462 on the second pushing base plate 143 move in the same direction as the second pushing base plate 143. Since the second pressing plate fixing member 1465 is fixedly connected to the first pushing base plate 141, the second synchronous pressing plate 1464 and the second pressing plate fixing member 1465 are clamped and fixed at the support point on one side of the second synchronous belt 1463, so that the third synchronous wheel 1461 and the fourth synchronous wheel 1462 rotate, and then the relative positions of the second synchronous pressing plate 1464 and the second pressing plate fixing member 1465 clamped at the support point on one side of the second synchronous belt 1463 and the third synchronous wheel 1461 and the fourth synchronous wheel 1462 change. At the same time, the third synchronous pressing plate 1466 The relative positions of the clamping point on the other side of the second synchronous belt 1463 clamped by the third pressure plate fixing piece 1467 and the third synchronous wheel 1461 and the fourth synchronous wheel 1462 change in the opposite direction. For example, when the second pushing base plate 143 moves close to the pushing port 1314, the clamping point on one side of the second synchronous pressure plate 1464 and the second pressure plate fixing piece 1465 is close to the third synchronous wheel 1461, and the clamping point on the other side of the second synchronous pressure plate 1466 and the third pressure plate fixing piece 1467 is far away from the third synchronous wheel 1461. Because the third pressure plate fixing piece 1467 is fixed on the third pushing base plate 144, the third pushing base plate 144 moves close to the pushing port 1314 relative to the second pushing base plate 143.

[0085] In summary, while the second pushing bottom plate 143 moves relative to the first pushing bottom plate 141 , the third pushing bottom plate 144 can move relative to the second pushing bottom plate 143 , and the relative movement distances are the same.

[0086] Read also Fig. 9 , Fig.10 , Fig.11 and Fig.12In some embodiments, the sliding assembly 1410 may include a first slider 14101, a first guide rail 14102, a second slider 14103, and a second guide rail 14104. Two first sliders 14101 may be provided, and two first guide rails 14102 may be provided. The two first sliders 14101 are respectively provided at two sides of the bottom of the second pushing bottom plate 143, and the two first guide rails 14102 are respectively provided at two sides of the top of the first pushing bottom plate 141. The axis of the first guide rail 14102 is perpendicular to the plane where the pushing port 1314 is located. The first slider 14101 is embedded in the first guide rail 14102. In addition to facilitating the movement of the second pushing bottom plate 143 relative to the first pushing bottom plate 141, the first guide rail 14102 and the first slider 14101 also play a role in supporting the second pushing bottom plate 143. The second slider 14103 is disposed at the bottom of the third pushing base plate 144 , the second guide rail 14104 is disposed at the top of the second pushing base plate 143 , the second slider 14103 is embedded in the second guide rail 14104 , and the axis of the second guide rail 14104 is parallel to the axis of the first guide rail 14102 .

[0087] See also Figure 1 and Figure 2 In some embodiments, the storage cabinet 1 may further include a storage door 16 and a pickup door 15 that are automatically opened and closed. The storage door 16 is disposed at the storage port 111. After the storage cabinet 1 receives a storage instruction, the storage door 16 automatically opens, and a person can put a tray 132 containing food from the storage port 111 into the box 131 in the first cabinet 11. The pickup door 15 is disposed at the pickup port 112. After receiving a pickup instruction, the pickup door 15 automatically opens, and the delivery robot 2 can take out food in the first cabinet 11 through the pickup port 112.

[0088] In some embodiments, the storage cabinet 1 may further include a touch screen 17, which may be disposed on the front face of the first cabinet body 11. Personnel may store items through the screen 17, which may also display the storage status of the storage cabinet 1, such as the number of free storage box units 13.

[0089] Read together Figure 6 and Figure 7 In some embodiments, the storage cabinet 1 may further include a through-beam sensor 18. The through-beam sensor 18 may be disposed on a vertical pole of an upper frame 1222 of the main frame 122 to detect whether food is placed in the box body 131. The number of through-beam sensors 18 is set to be more than two, corresponding one to one to the number of box bodies 131.

[0090] Read also Fig.13In some embodiments, the delivery robot 2 further includes a robot body 21 and a baffle 23. The robot body 21 has an insulation bin for storing items inside, and the aforementioned telescopic plate 22 is disposed in the insulation bin and can enter and exit the insulation bin. A baffle 23 is disposed at the outward end of the telescopic plate 22, 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. When picking up food, the pickup door 15 is opened to expose the pickup port 112, and the telescopic plate 22 enters the cabinet from the pickup port 112; the pushing mechanism 14 pushes the tray 132 and the food on the tray 132 out of the box body 131 and pushes them onto the telescopic plate 22, and the delivery robot 2 retracts the telescopic plate 22 to complete the meal picking.

[0091] Read also Fig.14 , Fig.15 and Fig.16 In some embodiments, the automatic tray closing device 3 may include a second cabinet 31, a magnetic grab plate 32, a translation assembly 33, a lifting assembly 34, a partition block 35, and a partition shaft 36. The second cabinet 31 is provided with a tray storage bin 311 for storing the tray 132, the tray storage bin 311 has at least one third opening 3111 for personnel to take out and / or put back the tray 132, the bottom of the tray storage bin 311 is provided with a fourth opening 3112, and the side of the second cabinet 31 is provided with a tray closing port 312 for recovering the tray 132, and the tray closing port 312 is arranged below the tray storage bin 311. The magnetic grab plate 32 is used to grab the tray 132, and the magnetic grab plate 32 is arranged opposite to the tray closing port 312. The translation assembly 33 is disposed below the fourth opening 3112, and is connected to the magnetic grab plate 32, and is used to control the magnetic grab plate 32 to enter and exit the second cabinet 31 from the closing opening 312, so that after the tray 132 grabbed by the magnetic grab plate 32 enters the second cabinet 31, it has a state of being located below the fourth opening 3112. The lifting assembly 34 is disposed below the fourth opening 3112, and when the tray 132 is located below the storage bin 311, the lifting assembly 34 is lifted upward to lift the tray 132 from the fourth opening 3112 into the storage bin 311. The partition block 35 and the partition shaft 36 are arranged on two opposite sides of the closing bin. The partition block 35 rotates around the axis of the partition shaft 36 so that the two partition blocks 35 can be converted between a horizontal state and a non-horizontal state. When the two partition blocks 35 are in a horizontal state, the distance between the ends of the two partition blocks 35 is less than the distance between the two opposite edges of the tray 132; when the two partition blocks 35 are in a non-horizontal state, the distance between the ends of the two partition blocks 35 is greater than or equal to the distance between the two opposite edges of the tray 132.

[0092] Specifically, the second cabinet 31 is arranged on the side of the first cabinet 11, for example, adjacent to the right side of the first cabinet 11, so that personnel can take the tray 132 in the second cabinet 31 nearby. The third opening 3111 on the storage bin 311 can be opened on the top or side of the first cabinet 11, or opened on the top and side of the first cabinet 11 at the same time. When the third opening 3111 is opened on the side of the first cabinet 11, the closing port 312 is arranged on a side different from the third opening 3111, so that personnel can take the tray and the automatic closing device 3 can close the tray from the delivery robot 2 at the same time. The size of the fourth opening 3112 is the same as the cross-sectional size of the storage bin 311. The magnetic grab plate 32 is connected to one end of the translation assembly 33, and the translation assembly 33 can control the magnetic grab plate 32 to enter and exit the closing port 312. The tray 132 is a magnetic metal material that can be absorbed by the magnetic grab plate 32. After the delivery robot 2 has finished delivering the food, it will return to the position of the second cabinet 31, and control its telescopic plate 22 to be located outside the closing opening 312. The translation component 33 controls the magnetic grab plate 32 to extend out of the second cabinet 31 from the closing opening 312. After sucking the tray 132 on the telescopic plate 22, the translation component 33 controls the magnetic grab plate 32 to return from the closing opening 312 to the second cabinet 31, and the tray 132 is located below the fourth opening 3112. The lifting component 34 lifts upward, lifts the bottom of the tray 132, separates the tray 132 from the magnetic grab plate 32, and allows the tray 132 to enter the storage bin 311 from the fourth opening 3112. When the tray 132 enters the disk storage bin 311 and moves upward, the two opposite edges of the tray 132 push the horizontal partition block 35 upward, causing the two partition blocks 35 to become non-horizontal, thereby allowing the tray 132 to continue to move upward. When the tray 132 is released from the non-horizontal partition block 35, the partition block 35 returns to the horizontal state, and the lifting assembly 34 slowly descends, gradually releasing its contact with the bottom of the tray 132, thereby causing the tray 132 to fall, and the bottoms of the two opposite edges of the tray 132 are respectively overlapped on the two horizontal partition blocks 35. In this way, the recovery of the tray 132 is completed. After multiple trays 132 are recovered, the later recovered tray 132 gradually lifts the earlier recovered tray 132 upward, so that each tray 132 is stacked in the disk storage bin 311.

[0093] Read also Fig.14 , Fig.15 and Fig.16In some embodiments, the translation assembly 33 includes a third motor 331 located below the fourth opening 3112 , a first driving shaft 332 , a second driving shaft 333 , a first driving gear 334 , and a third chain 335 . The third motor 331 is fixed to the inner side of the second cabinet 31, the first drive shaft 332 is the output shaft of the third motor 331, and is arranged in parallel with the bottom surface of the second cabinet 31, the second drive shaft 333 is arranged in parallel with the first drive shaft 332, and the second drive shaft 333 and the first drive shaft 332 are both parallel to the plane where the recycling port is located, and the second drive shaft 333 is closer to the recycling port than the first drive shaft 332, two first drive gears 334 are sleeved at both ends of the first drive shaft 332, and two first drive gears 334 are sleeved at both ends of the second drive shaft 333, and two parallel third chains 335 are respectively sleeved on the first drive gear 334 and the first drive gears 334 at both ends of the second drive shaft 333, so that the third chain 335 is perpendicular to the plane where the recycling port is located, and the two sides of the magnetic grab plate 32 are respectively fixed on the two third chains 335, so that the third motor 331 can drive the magnetic grab plate 32 to perform translational movement in and out of the recycling port.

[0094] Read also Fig.14 , Fig.15 and Fig.16 In some embodiments, the lifting assembly 34 may include a fourth motor 341, a second driving gear 342, a rack 343, and a lifting push plate 344. The fourth motor 341 is disposed on the inner side of the second cabinet 31 and is located below the interval between the third chains 335. The second driving gear 342 is connected to the output shaft of the fourth motor 341. The rack 343 is engaged with the second driving gear 342, and the rack 343 is disposed perpendicular to the bottom surface of the second cabinet 31. The lifting push plate 344 is fixedly connected to the top of the rack 343, and the size of the lifting push plate 344 is smaller than the distance between the two third chains 335, and smaller than the distance between the first driving shaft 332 and the second driving shaft 333. In this way, the fourth motor 341 can control the lifting push plate 344 to perform vertical lifting movement, so that the lifting push plate 344 can contact the bottom of the tray 132 located below the fourth opening 3112 and lift the tray 132, so that the tray 132 can detach from the magnetic grab plate 32 and enter the disk storage bin 311.

[0095] In some embodiments, in order to ensure that the two partition blocks 35 do not rotate downward when they are in a horizontal state, a limiting device (not shown in the figure) can be set so that the partition block 35 can only move upward around the axis of the partition shaft 36. For example, a one-way torsion spring is set between the partition block 35 and the partition shaft 36, or a limiting opening is opened above the two side walls of the closing bin. The bottom of the limiting buckle contacts the bottom of the partition block 35 in the horizontal rotation state, and the top of the limiting opening is spaced a distance from the bottom of the partition block 35 in the horizontal rotation state, so that the partition block 35 can only move upward, and the side wall of the closing bin can be used to improve the stability of the partition block 35 in supporting the recovered tray 132.

[0096] Get involved Fig.17 In some examples, the number of storage cabinets 1 is two, and the two storage cabinets 1 are arranged side by side.

[0097] In this embodiment, the structures of the storage cabinet 1 disclosed in the above embodiments are arranged in pairs except for the display screen 17, the pickup port 112 and the pickup door 15.

[0098] It can be understood that in other embodiments, the display screen 17, the pickup port 112 and the pickup door 15 can also be arranged in pairs.

[0099] Read together Fig.18 The storage cabinet 1 may also include a controller 19, a temperature sensor 20 and an identification device 24. The controller 19 is arranged in the first cabinet 11, and can be specifically arranged in the part of the first cabinet 11 opposite to the display screen 17. The controller 19 is connected to the terminal server for communication. The terminal server can be a terminal server of the hotel management system. When the meal or takeout is placed in the first cabinet 11, the controller 19 sends information to the terminal server, and the terminal server sends a work instruction to the delivery robot 2. After the delivery robot 2 takes the meal or takeout, it delivers it to the corresponding destination, which can be the door of a room in the hotel. The temperature sensor 20 and the identification device 24 are both connected to the controller 19. The temperature sensor 20 is arranged in each box body 131 to identify the temperature of the items in the box body 131. The identification device 24 is arranged on the push mechanism 14 to identify the box body 131. The controller 19 is also connected to the first motor 123, the second motor 142 and the beam sensor 18.

[0100] Read also Fig.19 The present invention further provides a distribution method, which is applied to the storage and distribution device provided in the above embodiment, and the method includes S110~S140.

[0101] S110: If it is detected that an item is placed in the box, the entry time and the entry temperature of the item are obtained.

[0102] Specifically, each box body and the corresponding beam sensor and temperature sensor are coded one by one and stored in the controller. For example, box body No. 001 corresponds to beam sensor No. 001 and temperature sensor No. 001. After the corresponding box body is put into the food, the corresponding beam sensor and temperature sensor send the time information and temperature information of the food entering the cabinet to the controller. After receiving the time information and temperature information of the food entering the cabinet, the controller sends the information of the stored food to the terminal server, and the terminal server sends the work instruction to the delivery robot.

[0103] S120: Determine whether the interval between the time when the items in the boxes are put into the cabinet is greater than a preset value.

[0104] For example, the preset value can be set to 3 minutes. After the controller receives multiple cabinet entry time information and cabinet entry temperature information, it means that multiple guests' meals have been placed in the storage cabinet within a period of time. The controller determines whether the interval between the cabinet entry times of any two or more boxes of meals is greater than 3 minutes based on the received cabinet entry time information.

[0105] S130: If the interval between the entry times is greater than a preset value, the items with an earlier entry time are delivered first.

[0106] For example, if the interval between the entry times is greater than 3 minutes, in order to avoid the customer waiting too long and affecting the user's ordering experience, priority will be given to delivering items that were entered earlier. Specifically, the identification device provided on the push mechanism can be an RFID reader. When each box is located in the second position, a tag that cooperates with the RFID reader is provided on its outer surface opposite to the push structure. When the tag of the box enters the scanning range of the RFID reader, the RFID reader sends the corresponding information of the box to the controller. The corresponding information of the box includes the coding information of the box. For example, when the RFID reader sends the information of box No. 001 to the controller, the controller determines that box No. 001 has moved to a position that can cooperate with the push mechanism, that is, the second position, so that the controller can determine whether the box corresponding to the item to be delivered is located in the second position.

[0107] For example, after the controller determines that the item that needs to be delivered first is box No. 001, when the controller receives the information of box No. 001 sent by the RFID reader, the controller sends a stop working instruction to the first motor, that is, controls the circular motion structure to stop moving, and at the same time sends a work instruction to the second motor to push the food and tray in box No. 001 onto the telescopic plate of the delivery robot.

[0108] S140: If the interval between the cabinet entry times is not greater than a preset value, items with higher cabinet entry temperatures are delivered first.

[0109] For example, if the controller determines that the interval between the cabinet entry times of the meals in the two boxes is no more than 3 minutes, the cabinet entry temperatures of the meals in the two boxes are determined by the cabinet entry temperature information, and the meals with higher temperatures are delivered preferentially. Since the interval between the cabinet entry times of the meals in the two boxes is no more than the preset value, it means that the customer's order time is not much different. At this time, the importance of the cabinet entry time is reduced. The temperature of the meals with higher temperatures will drop more in the same time, which will have a greater impact on the customer's dining experience. Therefore, step S140 can further improve the user experience.

[0110] 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, a distribution robot and an automatic closing device; the storage cabinet includes: A first cabinet, wherein the first cabinet is provided with a cargo pickup port and a cargo storage port; A circulating motion mechanism, disposed in the first cabinet; A plurality of storage box units are arranged in the first cabinet, the plurality of storage box units are connected to the circulating motion mechanism, the storage box units include a box body and a tray arranged in the box body, the tray is used to hold articles; and A pushing mechanism is arranged in the first cabinet, the circulating motion mechanism drives the plurality of storage box units to perform a circulating motion, so that any of the storage box units can move back and forth between a first position and a second position, the first position being a position where the storage box unit is relative to the storage port, the second position being a position where the storage box unit is relative to the pushing mechanism, and the pushing mechanism is used to push the tray and the items in the tray to the pickup port together; The delivery robot comprises a telescopic plate capable of entering and exiting the first cabinet from the pickup port, and the telescopic plate cooperates with the pushing mechanism to take out the tray and the items in the tray; The automatic tray closing device is arranged at one side of the first cabinet and is used for recovering the tray.

2. The storage and delivery equipment according to claim 1, characterized in that: The automatic closing device comprises: A second cabinet, wherein the second cabinet is provided with a storage bin for storing the trays, the storage bin has at least one third opening for personnel to take out and / or put back the trays, a fourth opening is provided at the bottom of the storage bin, and a closing opening for recovering the trays is provided on the side of the second cabinet, and the closing opening is arranged below the storage bin; A magnetic grab plate, used for grabbing the tray, the magnetic grab plate being arranged opposite to the tray closing opening; A translation assembly is arranged below the fourth opening, the translation assembly is connected to the magnetic grab plate, and is used to control the magnetic grab plate to enter and exit the second cabinet from the closing opening, so that after the tray grabbed by the magnetic grab plate enters the second cabinet, it has a state of being located below the fourth opening; The lifting assembly is arranged below the fourth opening. When the tray is located below the disk storage bin, the lifting assembly is lifted upward to lift the tray from the fourth opening into the disk storage bin.

3. The storage and delivery equipment according to claim 2, characterized in that: The automatic closing device also includes a dividing shaft and a dividing block sleeved on the dividing shaft, the dividing block and the dividing shaft are arranged on two opposite sides of the closing bin, the dividing block rotates around the axis of the dividing shaft so that the two dividing blocks can be converted between a horizontal state and a non-horizontal state, when the two dividing blocks are in the horizontal state, the distance between the ends of the two dividing blocks is less than the distance between the two opposite edges of the tray; when the two dividing blocks are in the non-horizontal state, the distance between the ends of the two dividing blocks is greater than or equal to the distance between the two opposite edges of the tray.

4. The storage and delivery equipment according to claim 1, characterized in that: The circulating motion mechanism includes two first chains arranged at intervals, the first chains are in the shape of a runway, the long axis of the first chain is perpendicular to the bottom surface of the first cabinet, the two planes where the two first chains are located are parallel to each other, the two first chains are arranged opposite to each other, and the two planes where the two first chains are located are parallel to the plane where the storage port is located; the plurality of storage box units are arranged between the two first chains and are all connected to the two first chains.

5. The storage and delivery equipment according to claim 4, characterized in that: The cyclic motion mechanism also includes: A main frame, fixedly disposed in the first cabinet; A first motor is arranged on the main frame; A first single-row gear connected to an output shaft of the first motor; A double-row gear, disposed below the first single-row gear; A second chain simultaneously connects the first single-row gear and one of the rows of gears of the double-row gear; A second single-row gear is disposed above the double-row gear, wherein one of the first chains simultaneously connects the other row of gears of the double-row gear and the second single-row gear; a third single-row gear and a fourth single-row gear, wherein the third single-row gear is arranged opposite to the double-row gear, the fourth single-row gear is arranged opposite to the second single-row gear, and another first chain simultaneously connects the third single-row gear and the fourth single-row gear; A first connecting shaft connecting the third single-row gear and the double-row gear; and The second connecting shaft connects the fourth single-row gear and the second single-row gear.

6. The storage and delivery equipment according to claim 5, characterized in that: The storage box unit also includes a third connecting shaft and a longitudinal rotating connecting plate. A hanging ear is provided on the top of the box body. The third connecting shaft is passed through the hanging ear. One end of the rotating connecting plate is connected to the first chain, and the other end of the rotating connecting plate is connected to the first chain.

7. The storage and delivery equipment according to claim 5, characterized in that: The box body is provided with a first opening, a second opening and a push opening; the first opening is arranged toward the storage opening, the second opening is arranged opposite to the push opening, and the push opening is arranged opposite to the push mechanism.

8. The storage and delivery equipment according to claim 7, characterized in that: The pushing structure includes: a first pushing base plate, a second motor, a second pushing base plate, a third pushing base plate, a first transmission assembly, a second transmission assembly and a pushing plate; the first pushing base plate is fixed to the main frame, the second motor is arranged on the first pushing base plate, the second pushing base plate is arranged above the first pushing base plate, and the third pushing base plate is arranged above the second pushing base plate; the first transmission assembly connects the output shaft of the second motor and the second pushing base plate, so that the second pushing base plate moves relative to the first pushing base plate in a direction close to the pushing port or away from the pushing port; the second transmission assembly is used to make the third pushing base plate move in the same direction as the second pushing base plate while the second pushing base plate moves; the pushing plate is arranged at one end of the third pushing base plate close to the pushing port, and the size of the pushing plate is smaller than the size of the pushing port.

9. The storage and delivery equipment according to claim 8, characterized in that: The first transmission assembly includes a first synchronous wheel, a second synchronous wheel, a first synchronous belt, a first synchronous pressure plate and a first pressure plate fixing member; the first synchronous wheel is connected to the output shaft of the second motor, the straight line formed by the second synchronous wheel and the first synchronous wheel is perpendicular to the plane where the push port is located, the first synchronous belt is simultaneously sleeved on the first synchronous wheel and the second synchronous wheel, the first synchronous pressure plate and the first pressure plate fixing member are clamped on the first synchronous belt together, and the first pressure plate fixing member is fixedly connected to the second push bottom plate; The second transmission assembly includes a third synchronous wheel, a fourth synchronous wheel, a second synchronous belt, a second synchronous pressure plate, a second pressure plate fixing member, a third synchronous pressure plate and a third pressure plate fixing member; the third synchronous wheel and the fourth synchronous wheel are arranged on the second pushing plate, and the straight line connected by the third synchronous wheel and the fourth synchronous wheel is perpendicular to the plane where the pushing port is located, the second synchronous belt is simultaneously sleeved on the third synchronous wheel and the fourth synchronous wheel, the second synchronous pressure plate and the second pressure plate fixing member are clamped on the second synchronous belt, the second pressure plate fixing member is fixedly connected to the first pushing bottom plate, the third synchronous pressure plate and the third pressure plate fixing member are clamped on the second synchronous belt, and the third pressure plate fixing member is fixedly connected to the third pushing plate.

10. The storage and delivery equipment according to any one of claims 1 to 9, characterized in that: The number of the storage cabinets is two, and the two storage cabinets are arranged side by side.

11. A distribution method, applied to the storage and distribution equipment according to any one of claims 1 to 10, characterized in that: The storage and delivery equipment further comprises a controller, a temperature sensor and an identification device which are in communication with the controller; the controller is in communication with the terminal server; the temperature sensor is arranged in the box body and is used for identifying the temperature of the items in the box body; The identification device is arranged on the pushing mechanism and is used to identify the box body; the method comprises: If it is detected that an item is placed in the box, the entry time and the entry temperature of the item are obtained; Determine whether the interval between the time of entering the cabinet of the items in each box is greater than a preset value; If the interval between the entry times is greater than the preset value, the items with earlier entry times will be delivered first; If the interval between the cabinet entry times is not greater than a preset value, items with higher cabinet entry temperatures will be delivered first.

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