Storage and distribution equipment and distribution methods

Abstract

This invention discloses a storage and delivery device and method. The device includes a storage cabinet, a delivery robot, and an automatic tray-collecting device. The storage cabinet includes a first cabinet body, a circulating motion mechanism, several storage box units, and a pushing mechanism. The circulating motion mechanism is located inside the first cabinet body. Several storage box units are connected to the circulating motion mechanism, and each storage box unit includes a box body and a tray. The pushing mechanism is used to push the tray and items together to the pickup port. The delivery robot includes a telescopic plate, which cooperates with the pushing mechanism to retrieve the tray and the items inside. The automatic tray-collecting device is used to collect the tray. Personnel can store items in the storage box units. The telescopic plate of the delivery robot can enter the first cabinet body. The pushing mechanism pushes the tray and items together onto the telescopic plate. The delivery robot automatically delivers the items by retracting the telescopic plate, improving the problem of chaos at the food preparation site. The automatic tray-collecting device can automatically collect the trays, improving food delivery efficiency.

Description

Technical Field

[0001] This invention relates to the field of intelligent logistics, and more particularly to a storage and distribution device and a distribution method. Background Technology

[0002] With advancements in technology, many hotels now offer robot food delivery services. After customers order hotel meals or takeout from their rooms using their smartphones or other smart devices, hotel staff or delivery personnel place the prepared food in the robot's storage compartment, and the robot delivers the food to their room door. This saves customers time and improves their experience.

[0003] However, when there is a large number of meals to be delivered, especially during peak dining hours, multiple robots need to be set up on-site to wait for hotel staff or delivery personnel. During this time, the robots cannot perform other tasks, resulting in low robot efficiency and chaos at the food preparation site. Furthermore, after the robot finishes delivering the meal, the tray inside it still needs to be removed by personnel, which affects delivery efficiency. Summary of the Invention

[0004] To address 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 distribution device, including a storage cabinet, a distribution robot, and an automatic tray-collecting device; the storage cabinet includes:

[0006] The first cabinet has a retrieval port and a storage port.

[0007] A circulating motion mechanism is installed inside the first cabinet.

[0008] A plurality of storage box units are disposed within the first cabinet. Each storage box unit is connected to the circulating motion mechanism. Each storage box unit includes a box body and a tray disposed within the box body, the tray being used to hold items.

[0009] A pushing mechanism is installed inside the first cabinet. The circulating motion mechanism drives the plurality of storage box units to perform a circulating motion, so that any storage box unit can move back and forth between a first position and a second position. The first position is the position where the storage box unit is opposite to the storage opening, and the second position is the position where the storage box unit is opposite to the pushing mechanism. The pushing mechanism is used to push the tray and the items in the tray together to the retrieval opening.

[0010] The delivery robot includes a telescopic plate that can enter and exit the first cabinet from the pickup port. The telescopic plate cooperates with the pushing mechanism to remove the tray and the items in the tray.

[0011] The automatic tray collection device is located on one side of the first cabinet and is used to collect the trays.

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

[0013] The second cabinet has a storage compartment for storing the pallet. The storage compartment has at least one third opening for personnel to take out and / or put back the pallet. The bottom of the storage compartment has a fourth opening. The side of the second cabinet has a tray receiving port for retrieving the pallet. The tray receiving port is located below the storage compartment.

[0014] A magnetic gripper is used to grip the tray, and the magnetic gripper is positioned opposite to the tray opening.

[0015] A translation component is disposed below the fourth opening. The translation component is connected to the magnetic grabbing plate and is used to control the magnetic grabbing plate to enter and exit the second cabinet from the receiving port, so that after the tray grabbed by the magnetic grabbing plate enters the second cabinet, it has a state located below the fourth opening.

[0016] A lifting component is disposed below the fourth opening. When the tray is located below the storage compartment, the lifting component lifts upward to lift the tray into the storage compartment through the fourth opening.

[0017] In some embodiments, the automatic tray closing device further includes a separating shaft and a separating block sleeved on the separating shaft. The separating block and the separating shaft are disposed on two opposite sides of the tray closing compartment. The separating block rotates about the axis of the separating shaft so that the two separating blocks can switch between a horizontal state and a non-horizontal state. When the two separating blocks are in the horizontal state, the distance between the ends of the two separating blocks is less than the distance between the two opposite edges of the tray. When the two separating blocks are in the non-horizontal state, the distance between the ends of the two separating blocks is greater than or equal to the distance between the two opposite edges of the tray.

[0018] In some embodiments, the cyclic motion mechanism includes two spaced-apart first chains, the first chains being racetrack-shaped, the major axis of the first chains being perpendicular to the bottom surface of the first cabinet, the two planes containing the two first chains being parallel to each other, the two first chains being opposite to each other, and the two planes containing the two first chains being parallel to the plane containing the storage opening; the plurality of storage box units are disposed between the two first chains and are all connected to the two first chains.

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

[0020] The main frame is fixedly installed inside the first cabinet.

[0021] The first motor is mounted on the main frame;

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

[0023] A double-row gear is positioned below the first single-row gear;

[0024] The second chain connects both the first single-row gear and one of the rows of gears in the double-row gear;

[0025] The 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 with the second single-row gear;

[0026] The third single-row gear and the fourth single-row gear are arranged opposite to the double-row gear, and the fourth single-row gear is arranged opposite to the second single-row gear. Another first chain connects the third single-row gear and the fourth single-row gear.

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

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

[0029] In some embodiments, the storage box unit further includes a third connecting shaft and a longitudinally elongated rotating connecting plate. The top of the box body is provided with a hanging ear, the third connecting shaft passes 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 disposed facing the storage port, the second opening is disposed opposite to the push port, and the push port is disposed 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 push plate; the first pushing base plate is fixed on the main frame, the second motor is disposed on the first pushing base plate, the second pushing base plate is disposed above the first pushing base plate, and the third pushing base plate is disposed above the second pushing base plate; the first transmission assembly connects the output shaft of the second motor to 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 move the third pushing base plate in the same direction as the second pushing base plate while the second pushing base plate moves; the push plate is disposed at one end of the third pushing base plate close to the pushing port, and the size of the push plate is smaller than the size of the pushing port.

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

[0033] The second transmission assembly includes a third synchronous pulley, a fourth synchronous pulley, 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 pulley and the fourth synchronous pulley are disposed on the second push plate, and the straight line connecting the third synchronous pulley and the fourth synchronous pulley is perpendicular to the plane where the push port is located. The second synchronous belt is simultaneously sleeved on the third synchronous pulley and the fourth synchronous pulley. 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 push base plate. The third synchronous pressure plate and the third pressure plate fixing member are clamped on the second synchronous belt. The third pressure plate fixing member is fixedly connected to the third push plate.

[0034] Secondly, the present invention discloses a delivery method applied to the storage and delivery equipment described in the first aspect. The storage and delivery equipment further includes a controller and a temperature sensor and an identification device communicatively connected to the controller; the controller is communicatively connected to a terminal server; the temperature sensor is disposed in the box and used to identify the temperature of the items inside the box; the identification device is disposed on the pushing mechanism and used to identify the box; the method includes: if an item is detected to be placed in the box, obtaining the time of entry and the temperature of the item; determining whether the interval between the entry times 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, prioritizing delivery of items with earlier entry times; if the interval between the entry times is not greater than the preset value, prioritizing delivery of items with higher entry temperatures.

[0035] The beneficial effects of this invention are as follows: Personnel can store prepared items in the storage box unit of the storage cabinet through the storage opening. A circulating motion mechanism is installed inside the storage cabinet, connecting the storage box unit to the circulating motion mechanism. The circulating motion mechanism transports the storage box unit containing the items to the pushing mechanism. The delivery robot's telescopic plate can enter the first cabinet through the retrieval opening. The pushing mechanism pushes the tray and items onto the delivery robot's telescopic plate. The delivery robot retrieves the meal by retracting the telescopic plate and delivers it to its destination, achieving automated delivery and improving the chaotic situation at the meal preparation site. After delivering the previous meal, the delivery robot returns to the storage cabinet, where an automatic tray-collecting device automatically retrieves the tray, allowing the delivery robot to retrieve the next meal, thus improving delivery efficiency. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 An external structural diagram of the storage and distribution equipment provided in an embodiment of the present invention;

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

[0039] Figure 3 This is an internal structural diagram of the storage cabinet provided in an embodiment of the present invention;

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

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

[0042] Figure 6 Another internal structural diagram of the storage cabinet provided in an embodiment of the present invention;

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

[0044] Figure 8 This is a structural diagram of a storage box unit provided in an embodiment of the present invention;

[0045] Figure 9 This is a schematic diagram of the operation of the pushing mechanism provided in an embodiment of the present invention;

[0046] Figure 10 Another schematic diagram of the pushing mechanism provided in this embodiment of the invention;

[0047] Figure 11 This is a structural diagram of the pushing mechanism provided in an embodiment of the present invention;

[0048] Figure 12 for Figure 11 An enlarged schematic diagram of node B of the push mechanism shown;

[0049] Figure 13 Structural diagrams of the automatic tray-collecting device and delivery robot provided in embodiments of the present invention;

[0050] Figure 14 This is an external structural diagram of the automatic closing device provided in an embodiment of the present invention;

[0051] Figure 15 This is an internal structural diagram of the automatic closing device provided in an embodiment of the present invention;

[0052] Figure 16 An internal structural diagram of the automatic closing device provided in an embodiment of the present invention from another perspective;

[0053] Figure 17 Storage and distribution equipment provided in another embodiment of the present invention;

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

[0055] Figure 19 A flowchart illustrating the steps of a delivery method provided in an embodiment of the present invention.

[0056] Reference numerals: 1. Storage cabinet; 11. First cabinet body; 111. Storage opening; 112. Retrieval opening; 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 1211 First connecting shaft; 1212 Second connecting shaft; 1212 Connecting bracket; 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 Pushing mechanism; 141 First pushing base plate; 142 Second motor; 143 Second pushing base plate; 144 Third pushing base plate; 45. First transmission assembly; 1451. First synchronous pulley; 1452. Second synchronous pulley; 1453. First synchronous belt; 1454. First synchronous pressure plate; 1455. First pressure plate fixing component; 146. Second transmission assembly; 1461. Third synchronous pulley; 1462. Fourth synchronous pulley; 1463. Second synchronous belt; 1464. Second synchronous pressure plate; 1465. Second pressure plate fixing component; 1466. Third synchronous pressure plate; 1467. Third pressure plate 147. Fixing component; 148. Push plate; 149. Fixing sheet metal; 1410. Guide plate; 1411. Sliding assembly; 14101. First slider; 14102. First guide rail; 14103. Second slider; 14104. Second guide rail; 1411. Guide rail positioning sensor; 1412. Photoelectric switch; 15. Retrieval 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 compartment; 3111. Third opening; 3112. Fourth opening; 312. Closing port; 32. Magnetic gripper 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. Divider block; 36. Divider shaft. Detailed Implementation

[0059] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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 "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and, or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and, or collections thereof.

[0061] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "linking," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. When an component is referred to as being "on" or "below" another component, the component can be located "directly" or "indirectly" on the other component, or there may be one or more intermediary components. The terms "first," "second," "third," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0062] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this 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.

[0063] It should also be further understood that the terms “and” and “or” as used in this specification and the appended claims refer to any combination of one or more of the associated listed items and all possible combinations, and include such combinations.

[0064] like Figures 1 to 16 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 in a residential building.

[0065] See also Figure 1 and Figure 8 The storage and delivery equipment may include a storage cabinet 1, a delivery robot 2, and an automatic tray-collecting device 3. The storage cabinet 1 can be used to store hotel meals or takeout orders. Hotel staff or delivery personnel can place prepared meals or takeout orders into the storage cabinet 1. The storage cabinet 1, delivery robot 2, and automatic tray-collecting device 3 are connected to a terminal server. When a meal or takeout order is placed in the storage cabinet 1, the storage cabinet 1 sends information to the terminal server, which then sends a work instruction to the delivery robot 2. The delivery robot 2 picks up the meal or takeout order and transports it to the corresponding destination, which could be the door of a room in a hotel or residential area. After the delivery robot 2 completes the delivery, the tray 132 containing the meal remains inside the delivery robot 2. The delivery robot 2 then moves to the position of the automatic tray-collecting device 3, which automatically retrieves the tray 132.

[0066] See also Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 The storage cabinet 1 may include a first cabinet body 11, a circulating motion mechanism 12 disposed within the first cabinet body 11, several storage box units 13, and a pushing mechanism 14. The first cabinet body 11 is provided with a retrieval port 112 and a storage port 111. Each of the several storage box units 13 is connected to the circulating motion mechanism 12. Each storage box unit 13 includes a box body 131 and a tray 132 disposed within the box body 131. The tray 132 is used to hold items, namely the aforementioned hotel meals or takeout. The cyclic motion mechanism 12 drives several storage box units 13 to perform cyclic 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 the position where the storage box unit 13 is opposite to the storage opening 111, where hotel staff or delivery personnel can put the prepared food into the box body 131 through the storage opening 111, specifically onto the tray 132. The second position is the position where the storage box unit 13 is opposite to the pushing mechanism 14, which is used to push the tray 132 and the items in the tray 132 together to the retrieval opening 112. The delivery robot 2 includes a telescopic plate 22 that can enter and exit the first cabinet 11 through the retrieval opening 112. The telescopic plate 22 cooperates with the pushing mechanism 14 to remove the tray 132 and the items in the tray 132. The pushing mechanism 14 can push the items and the tray 132 together from the box body 131 onto the telescopic plate 22 of the delivery robot 2. The delivery robot 2 retracts the telescopic plate 22 to complete the food retrieval. An automatic tray collection device 3 is installed on one side of the first cabinet 11 for collecting trays 132.

[0067] See also Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 In some embodiments, the first cabinet 11 is generally rectangular in shape, including a front face, a rear face, a left face, a right face, a top face, and a bottom face. The front and rear faces have the largest areas, while the top and bottom faces have the smallest areas. The storage opening 111 and the retrieval opening 112 can be located on the same surface; for example, both the storage opening 111 and the retrieval opening 112 can be located on the front face. Hotel staff or delivery personnel can place meals or takeout food into the storage box unit 13 inside the first cabinet 11 through the storage opening 111. The delivery robot 2 retrieves the meals or takeout food from the first cabinet 11 through the retrieval opening 112. The retrieval opening 112 is closer to the ground than the storage opening 111 to accommodate the height of the delivery robot 2 and the height of the personnel (i.e., the aforementioned hotel staff or delivery personnel). Since the storage box unit 13 can move with the rotating cyclic structure, any storage box unit 13 can move to the first and second positions mentioned above. This minimizes the number of storage openings 111, for example, to one or two, allowing personnel to store items in the same location, reducing walking distance and improving storage efficiency. The delivery robot 2 can also retrieve items from any storage box unit 13 within the first cabinet 11 at the retrieval opening 112. This eliminates the need to increase the height of the delivery robot 2 or install lifting devices, thus minimizing its size and reducing the likelihood of collisions with other objects during movement, making delivery more convenient.

[0068] In other embodiments, the storage port 111 and the retrieval port 112 may not be located on the same surface. For example, the storage port 111 may be located on the front surface, and the retrieval port 112 may be located on the left or right side, thereby separating the working areas of personnel and delivery robot 2 so that their work does not affect each other.

[0069] See also Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 In some embodiments, the cyclic motion mechanism 12 includes two spaced-apart first chains 121, each chain 121 being racetrack-shaped, with its major axis perpendicular to the bottom surface of the first cabinet 11. The two planes containing the two first chains 121 are parallel to each other, and the two first chains 121 are arranged opposite each other. The two planes containing the two first chains 121 are also parallel to the plane containing the storage opening 111. A plurality of storage box units 13 are disposed between the two first chains 121 and are all connected to the two first chains 121.

[0070] Specifically, the two planes containing the two first chains 121 are parallel to the front end face of the first cabinet 11. The long central axis of the "track" formed by the first chains 121 is perpendicular to the top and bottom surfaces of the first cabinet 11, and the short central axis of the "track" is perpendicular to the left and right sides of the first cabinet 11. Each box 131 of the plurality of storage box units 13 is spaced between the two first chains 121 and connected to the two first chains 121, so that each storage box unit 13 can move together when the first chains 121 move.

[0071] In some embodiments, the cyclic motion mechanism 12 further 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 gear, a first connecting shaft 1210, a second connecting shaft 1211 and several connecting brackets 1212.

[0072] The robot body 21 frame 122 is fixedly installed inside the first cabinet 11. A first motor 123 is mounted on the robot body 21 frame 122, with its output shaft perpendicular to the rear side of the first cabinet 11. A first single-row gear 124 is connected to the output shaft of the first motor 123. A double-row gear 125 is located below the first single-row gear 124, with both rows of gears having the same diameter and rotating synchronously. The diameter of the double-row gear 125 is larger than that of the first single-row gear 124. A second chain 126 connects one row of gears from both the first single-row gear 124 and the double-row gear 125. A second single-row gear 127 is located above the double-row gear 125, with the same diameter. One of the first chains 121 connects the other row of gears from the double-row gear 125 to the second single-row gear 127, thereby driving one of the first chains 121 to rotate. The third single-row gear 128 is positioned opposite the double-row gear 125, and the fourth single-row gear 129 is positioned opposite the second single-row gear 127. The third single-row gear 128, double-row gear 125, fourth single-row gear 129, and second single-row gear 127 have the same diameter. Another first chain 121 connects both the third single-row gear 128 and the fourth single-row gear 129. A first connecting shaft 1210 connects the third single-row gear 128 and the double-row gear 125, and a second connecting shaft 1211 connects the fourth single-row gear 129 and the second single-row gear 127. Thus, the first motor 123 can drive the two "racetrack-shaped" first sprockets in a cyclical motion. Several connecting brackets 1212 are disposed on the two first chains 121, and can also be disposed on the opposite sides of the two first chains 121. These brackets are used to connect the first chains 121 to the housings 131 of several storage unit 13s.

[0073] See 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, each composed of several crossbars and uprights. The bottom frame 1221 is parallel to the bottom surface of the first cabinet 11 and is disposed on that bottom surface. The upper frame 1222 is disposed on the bottom frame 1221, and the cross-sectional area of ​​the bottom frame 1221 is larger than that of the upper frame 1222, so that the bottom frame 1221 can more stably support the upper frame 1222. Specifically, the two ends of the bottom frame 1221 can be extended away from the upper frame 1222. The upper frame 1222 may include two first uprights near the front end face of the first cabinet 11, two second uprights near the rear end face of the first cabinet 11, and multiple crossbars disposed between the first uprights and the second uprights. The crossbars are used to improve the overall strength of the upper frame 1222 and to support the first motor 123, the first connecting shaft 1210, and the second connecting shaft 1211. The first and second uprights are arranged in a rectangular configuration. The first motor 123 is fixed to the crossbar between the first uprights. The first connecting shaft 1210 and the second connecting shaft 1211 are mounted on the crossbar between the first and second uprights via bearings and a fixing bracket. The crossbar for supporting the second connecting shaft 1211 is located at the top of the first and second uprights.

[0074] Referring also to 8, in some embodiments, the storage box unit 13 further includes a third connecting shaft 133 and a longitudinally elongated rotating connecting plate 134. The top of the box body 131 is provided with a hanging ear 1311, the third connecting shaft 133 passes 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, the top of the box body 131 is provided with a pair of hanging ears 1311, and the hanging ears 1311 are located on the edge of the top of the box body 131. 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 connected to one end of the two rotating connecting plates 134. The other end of the rotating connecting plate 134 is fixedly connected to the connecting bracket 1212 on the first chain 121 by bolts, so that when the first chain 121 moves in a cycle, it drives the rotating connecting plate 134 to move, thereby driving the box body 131 to move in a cycle. The top of the box body 131 and the rotating connecting plate 134 form a shaft connection, so that the hanging ears 1311 can always be in an upward position during the cycle of the box body 131, ensuring that the food placed inside will not tilt or tip over.

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

[0077] Specifically, the first opening 1312 is positioned facing the storage opening 111 to facilitate the placement of food into the box 131. When placing the food into the box 131, the person can remove the tray 132 from the automatic tray collection device 3, place the food into the tray 132, and then place the tray 132 and the food together into the box 131 inside the first cabinet 11. The bottom of the first opening 1312 may be provided with a protrusion to limit its movement and prevent the tray 132 and the food from sliding out of the first opening 1312. The second opening 1313 faces the right side of the first cabinet 11, and the push port 1314 faces the left side of the first cabinet 11. The push port 1314 is arranged opposite to the push mechanism 14 so that the push mechanism 14 can enter the box 131 through the push port 1314 and push the food or tray 132, so that the food and tray 132 are pushed out from the second opening 1313, thereby moving the food and tray 132 in the box 131 onto the telescopic plate 22 of the delivery robot 2 that enters the first cabinet 11.

[0078] See also Figure 9 , Figure 10 , Figure 11 and Figure 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 push plate 147.

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

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

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

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

[0083] The second transmission assembly 146 includes a third synchronous pulley 1461, a fourth synchronous pulley 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 pulley 1461 and the fourth synchronous pulley 1462 are disposed on the second push plate, and the straight line formed by the third synchronous pulley 1461 and the fourth synchronous pulley 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 pulley 1461 and the fourth synchronous pulley 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 base plate 141. The third synchronous pressure plate 1466 and the third pressure plate fixing member 1467 are clamped on the second synchronous belt 1463. 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 on the clamping 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 on the clamping point on the other side of the second synchronous belt 1463. When the second push base plate 143 moves relative to the first push base plate 141, the third synchronous wheel 1461 and the fourth synchronous wheel 1462 on the second push base plate 143 move in the same direction as the second push base plate 143. Since the second pressure plate fixing member 1465 is fixedly connected to the first push base plate 141, the second synchronous pressure plate 1464 and the second pressure plate fixing member 1465 are fixed at the clamping point on one side of the second synchronous belt 1463, thereby causing the third synchronous wheel 1461 and the fourth synchronous wheel 1462 to rotate. This causes the relative position of the clamping point on one side of the second synchronous belt 1463 between the second synchronous pressure plate 1464 and the second pressure plate fixing member 1465 and the third synchronous wheel 1461 and the fourth synchronous wheel 1462 to change. At the same time, the third synchronous pressure plate 1466... The relative positions of the clamping point of the third pressure plate fixing member 1467 on the other side of the second synchronous belt 1463 and the third synchronous pulley 1461 and the fourth synchronous pulley 1462 change in opposite directions. For example, when the second push base plate 143 moves closer to the push port 1314, the clamping point of the second synchronous pressure plate 1464 and the second pressure plate fixing member 1465 on one side of the second synchronous belt 1463 moves closer to the third synchronous pulley 1461, while the clamping point of the third synchronous pressure plate 1466 and the third pressure plate fixing member 1467 on the other side of the second synchronous belt 1463 moves away from the third synchronous pulley 1461. Since the third pressure plate fixing member 1467 is fixed on the third push base plate 144, the third push base plate 144 moves closer to the push port 1314 relative to the second push base plate 143.

[0085] In summary, while the second push base plate 143 moves relative to the first push base plate 141, the third push base plate 144 can move relative to the second push base plate 143, and the relative movement distance is the same.

[0086] See also Figure 9 , Figure 10 , Figure 11 and Figure 12In some embodiments, the sliding component 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 and two first guide rails 14102 may be provided. The two first sliders 14101 are respectively disposed on the bottom sides of the second push base plate 143, and the two first guide rails 14102 are respectively disposed on the top sides of the first push base plate 141. The axis of the first guide rail 14102 is perpendicular to the plane containing the push port 1314. The first sliders 14101 are fitted onto the first guide rails 14102. Besides facilitating the movement of the second push base plate 143 relative to the first push base plate 141, the first guide rails 14102 and the first sliders 14101 also serve to support the second push base plate 143. The second slider 14103 is located at the bottom of the third push base plate 144, and the second guide rail 14104 is located at the top of the second push base plate 143. The second slider 14103 is fitted onto 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 an automatically opening and closing storage door 16 and a retrieval door 15. The storage door 16 is located at the storage opening 111. After the storage cabinet 1 receives a storage instruction, the storage door 16 automatically opens, allowing personnel to place the tray 132 containing the food into the box 131 inside the first cabinet 11 through the storage opening 111. The retrieval door 15 is located at the retrieval opening 112. Upon receiving a retrieval instruction, the retrieval door 15 automatically opens, allowing the delivery robot 2 to retrieve the food from the first cabinet 11 through the retrieval opening 112.

[0088] In some embodiments, the storage cabinet 1 may further include a touch-sensitive display screen 17, which may be disposed on the front surface of the first cabinet 11. Personnel can use the display screen 17 to perform operations such as storing items. The display screen 17 may also display the storage status of the storage cabinet 1, such as the number of available storage box units 13.

[0089] See together Figure 6 and Figure 7 In some embodiments, the storage cabinet 1 may also include a through-beam sensor 18, which may be installed on the upright of the upper frame 1222 of the main frame 122 to detect whether there is food inside the box 131. The number of through-beam sensors 18 is set to two or more, corresponding one-to-one with the number of boxes 131.

[0090] See also Figure 13In some embodiments, the delivery robot 2 also includes a robot body 21 and a baffle 23. The robot body 21 has an insulated compartment for storing items, and the aforementioned telescopic plate 22 is disposed within this compartment and can enter and exit it. A baffle 23 is provided at the outward end of the telescopic plate 22. This baffle 23 serves to both close the insulated compartment and limit the items on the telescopic plate 22. When picking up food, the pickup door 15 opens, revealing the pickup opening 112. The telescopic plate 22 enters the cabinet through the pickup opening 112. The pushing mechanism 14 pushes the tray 132 and the food on it out of the box 131 and onto the telescopic plate 22. The delivery robot 2 then retracts the telescopic plate 22, completing the food pickup.

[0091] See also Figure 14 , Figure 15 and Figure 16 In some embodiments, the automatic tray-retrieving device 3 may include a second cabinet 31, a magnetic grabber 32, a translation component 33, a lifting component 34, a separator block 35, and a separator shaft 36. The second cabinet 31 has a storage compartment 311 for storing trays 132. The storage compartment 311 has at least one third opening 3111 for personnel to retrieve and / or return trays 132. A fourth opening 3112 is provided at the bottom of the storage compartment 311. A tray-retrieving opening 312 for collecting trays 132 is provided on the side of the second cabinet 31, located below the storage compartment 311. The magnetic grabber 32 is used to grab the trays 132, and is positioned opposite to the tray-retrieving opening 312. A translation component 33 is positioned below the fourth opening 3112 and is connected to the magnetic gripper plate 32. The translation component 33 controls the magnetic gripper plate 32 to move in and out of the second cabinet 31 from the receiving port 312, ensuring that the tray 132 gripped by the magnetic gripper plate 32 is positioned below the fourth opening 3112 after entering the second cabinet 31. A lifting component 34 is positioned below the fourth opening 3112. When the tray 132 is below the storage compartment 311, the lifting component 34 lifts upwards to lift the tray 132 from the fourth opening 3112 into the storage compartment 311. The separator 35 and the separator shaft 36 are disposed on two opposite sides of the closing compartment. The separator 35 rotates around the axis of the separator shaft 36 so that the two separators 35 can switch between a horizontal state and a non-horizontal state. When the two separators 35 are in a horizontal state, the distance between the ends of the two separators 35 is less than the distance between the two opposite edges of the tray 132. When the two separators 35 are in a non-horizontal state, the distance between the ends of the two separators 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 located on the side of the first cabinet 11, for example, adjacent to the right side of the first cabinet 11, so that personnel can easily access the tray 132 inside the second cabinet 31. The third opening 3111 on the storage compartment 311 can be located on the top or side of the first cabinet 11, or both. When the third opening 3111 is located on the side of the first cabinet 11, the receiving port 312 is located on a different side from the third opening 3111, so that personnel can retrieve trays and the automatic receiving device 3 can collect trays from the delivery robot 2 simultaneously. The size of the fourth opening 3112 is the same as the cross-sectional size of the storage compartment 311. The magnetic gripper 32 is connected to one end of the translation component 33, which can control the magnetic gripper 32 to enter and exit the receiving port 312. The tray 132 is a magnetic metal material that can be attracted by the magnetic gripper 32. After the delivery robot 2 completes its delivery, it returns to the second cabinet 31 and positions its telescopic plate 22 outside the receiving port 312. The translation component 33 controls the magnetic grabber 32 to extend from the receiving port 312 into the second cabinet 31, pick up the tray 132 from the telescopic plate 22, and then controls the magnetic grabber 32 to return from the receiving port 312 back to the second cabinet 31, positioning the tray 132 below the fourth opening 3112. The lifting component 34 then lifts the bottom of the tray 132, causing it to detach from the magnetic grabber 32 and enter the storage compartment 311 through the fourth opening 3112. As the tray 132 enters the storage compartment 311 and moves upward, the two opposite edges of the tray 132 push the horizontal partition blocks 35 upward, causing the two partition blocks 35 to become non-horizontal, thus allowing the tray 132 to continue moving upward. When the tray 132 is released from the non-horizontal partition blocks 35, the partition blocks 35 return to the horizontal state, and the lifting component 34 slowly descends, gradually releasing its contact with the bottom of the tray 132, causing the tray 132 to fall. The bottoms of the two opposite edges of the tray 132 respectively overlap the two horizontal partition blocks 35, thus completing the retrieval of the tray 132. After multiple trays 132 are retrieved, the later retrieved trays 132 gradually lift the earlier retrieved trays 132 upward, so that all the trays 132 are stacked in the storage compartment 311.

[0093] See also Figure 14 , Figure 15 and Figure 16In some embodiments, the translation component 33 includes a third motor 331, a first drive shaft 332, a second drive shaft 333, a first drive gear 334, and a third chain 335 located below the fourth opening 3112. 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 parallel to the bottom surface of the second cabinet 31. The second drive shaft 333 is parallel to the first drive shaft 332 and both the second drive shaft 333 and the first drive shaft 332 are parallel to the plane where the recycling port is located. 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 the second drive shaft 333. Two parallel third chains 335 are respectively sleeved on the first drive gears 334 and the first drive gears 334 at both ends of the second drive shaft 333, so that the third chains 335 are perpendicular to the plane where the recycling port is located. 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] See also Figure 14 , Figure 15 and Figure 16 In some embodiments, the lifting assembly 34 may include a fourth motor 341, a second drive 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 located below the gap between the third chains 335. The second drive gear 342 is connected to the output shaft of the fourth motor 341. The rack 343 meshes with the second drive gear 342 and 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 drive shaft 332 and the second drive shaft 333. Thus, the fourth motor 341 can control the lifting push plate 344 to move vertically up and down, 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 is separated from the magnetic grab plate 32 and enters the storage compartment 311.

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

[0096] Participate together Figure 17 In some instances, there are two storage cabinets 1, and the two storage cabinets 1 are arranged side by side.

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

[0098] Understandably, in other embodiments, the display screen 17, the pickup slot 112, and the pickup door 15 may also be provided in pairs.

[0099] See also Figure 18 The storage cabinet 1 may also include a controller 19, a temperature sensor 20, and an identification device 24. The controller 19 is located inside the first cabinet 11, specifically in the portion of the first cabinet 11 opposite the display screen 17. The controller 19 is communicatively connected to a terminal server, which may be the terminal server of a hotel management system. When food or takeout is placed in the first cabinet 11, the controller 19 sends information to the terminal server, which then sends a work instruction to the delivery robot 2. The delivery robot 2 picks up the food or takeout and transports it to the corresponding destination, which may be the door of a hotel room. The temperature sensor 20 and the identification device 24 are both connected to the controller 19. The temperature sensor 20 is located inside each box 131 and is used to identify the temperature of the items inside the box 131. The identification device 24 is located on the pushing mechanism 14 and is used to identify the box 131. The controller 19 is also connected to a first motor 123, a second motor 142, and a through-beam sensor 18.

[0100] See also Figure 19 The present invention also provides a delivery method applied to the storage and delivery equipment provided in the above embodiments, the method comprising steps S110 to S140.

[0101] S110. If an item is detected being placed inside the box, obtain the time the item was placed in the cabinet and the temperature at which it was placed in the cabinet.

[0102] Specifically, each delivery box and its corresponding photoelectric sensor and temperature sensor are individually coded and pre-stored in the controller. For example, box number 001 corresponds to photoelectric sensor number 001 and temperature sensor number 001. After food is placed in the corresponding box, the corresponding photoelectric sensor and temperature sensor send their entry time and temperature information to the controller. Upon receiving the entry time and temperature information, the controller sends the information about the food being placed to the terminal server, which then sends a work instruction to the delivery robot.

[0103] S120. Determine whether the time interval between the items in each box being placed in the cabinet is greater than a preset value.

[0104] For example, the preset value can be set to 3 minutes. After receiving multiple cabinet entry time and temperature information, the controller understands that multiple guests' meals have been placed in the storage cabinet within a certain period. The controller then uses the received cabinet entry time information to determine whether the interval between the entry times of any two or more meals in the cabinet is greater than 3 minutes.

[0105] S130. If the interval between the time of entering the cabinet is greater than a preset value, the items that entered the cabinet earlier will be delivered first.

[0106] For example, if the interval between the time items are placed in the locker is greater than 3 minutes, to avoid long waiting times for customers and affecting their ordering experience, items placed earlier will be prioritized for delivery. Specifically, the identification device set on the pushing mechanism can be an RFID reader. When each box is in the second position mentioned above, a tag that works with the RFID reader is set on its outer side opposite to the pushing 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. This corresponding information includes the box's encoding information. For example, when the RFID reader sends the information of box number 001 to the controller, the controller determines that box number 001 has moved to a position that can work with the pushing mechanism, i.e., the second position mentioned above. This allows the controller to 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 to be delivered first and that the corresponding box is box number 001, when the controller receives the information of box number 001 sent by the RFID reader, the controller sends a stop working command to the first motor, that is, controls the cyclic motion structure to stop moving, and at the same time sends a working command to the second motor to push the food and tray in box number 001 onto the delivery robot's telescopic plate.

[0108] S140. If the interval between the time of entering the cabinet is not greater than the preset value, items with higher cabinet temperature shall be delivered first.

[0109] For example, if the controller determines that the interval between the arrival times of the meals in the two containers is no more than 3 minutes, it will determine the arrival temperatures of the meals in the two containers based on the arrival temperature information and prioritize delivering the meal with the higher temperature. Since the interval between the arrival times of the meals in the two containers is no more than a preset value, it means that the customers' order times are not far apart. In this case, the importance of arrival time is reduced. The higher-temperature meal will cool down more in the same amount of 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 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 these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A delivery method applied to a storage and delivery device, characterized in that, The storage and delivery equipment includes storage cabinets, a delivery robot, and an automatic tray-collecting device; the storage cabinet includes: The first cabinet has a retrieval port and a storage port. A circulating motion mechanism is installed inside the first cabinet. A plurality of storage box units are disposed within the first cabinet. Each storage box unit is connected to the circulating motion mechanism. Each storage box unit includes a box body and a tray disposed within the box body, the tray being used to hold items. A pushing mechanism is installed inside the first cabinet. The circulating motion mechanism drives the plurality of storage box units to perform a circulating motion, so that any storage box unit can move back and forth between a first position and a second position. The first position is the position where the storage box unit is opposite to the storage opening, and the second position is the position where the storage box unit is opposite to the pushing mechanism. The pushing mechanism is used to push the tray and the items in the tray together to the retrieval opening. The delivery robot includes a telescopic plate that can enter and exit the first cabinet from the pickup port. The telescopic plate cooperates with the pushing mechanism to remove the tray and the items in the tray. The automatic tray collection device is located on one side of the first cabinet and is used to collect the trays; The storage and distribution equipment further includes a controller, a temperature sensor and an identification device communicatively connected to the controller; the controller is communicatively connected to a terminal server; the temperature sensor is disposed inside the box and is used to identify the temperature of the items inside the box; the identification device is disposed on the pushing mechanism and is used to identify the box; the method includes: If an item is detected being placed inside the box, the time the item was placed in the cabinet and the temperature at which it was placed in the cabinet are obtained. Determine whether the time interval between the items being placed in the cabinet in each of the boxes is greater than a preset value; If the interval between the time items are placed in the locker is greater than a preset value, items placed in the locker earlier will be delivered first. If the interval between the time items are placed in the cabinet is not greater than a preset value, items with higher cabinet temperatures will be delivered first.

2. A storage and distribution device for performing the distribution method as described in claim 1, characterized in that, The automatic closing device includes: The second cabinet has a storage compartment for storing the pallet. The storage compartment has at least one third opening for personnel to take out and / or put back the pallet. The bottom of the storage compartment has a fourth opening. The side of the second cabinet has a tray receiving port for retrieving the pallet. The tray receiving port is located below the storage compartment. A magnetic gripper is used to grip the tray, and the magnetic gripper is positioned opposite to the tray opening. A translation component is disposed below the fourth opening. The translation component is connected to the magnetic grabbing plate and is used to control the magnetic grabbing plate to enter and exit the second cabinet from the receiving port, so that after the tray grabbed by the magnetic grabbing plate enters the second cabinet, it has a state located below the fourth opening. A lifting component is disposed below the fourth opening. When the tray is located below the storage compartment, the lifting component lifts upward to lift the tray from the fourth opening into the storage compartment.

3. The storage and distribution equipment according to claim 2, characterized in that, The automatic tray closing device further includes a separating shaft and separating blocks sleeved on the separating shaft. The separating blocks and the separating shaft are disposed on two opposite sides of the tray. The separating blocks rotate around the axis of the separating shaft so that the two separating blocks can switch between a horizontal state and a non-horizontal state. When the two separating blocks are in the horizontal state, the distance between the ends of the two separating blocks is less than the distance between the two opposite edges of the tray. When the two separating blocks are in the non-horizontal state, the distance between the ends of the two separating blocks is greater than or equal to the distance between the two opposite edges of the tray.

4. The storage and distribution equipment according to claim 2, characterized in that, The cyclic motion mechanism includes two spaced-apart first chains, each chain being racetrack-shaped. The long axis of each first chain is perpendicular to the bottom surface of the first cabinet. The two planes containing the two first chains are parallel to each other, and the two first chains are arranged opposite each other. The two planes containing the two first chains are parallel to the plane containing the storage opening. The plurality of storage box units are disposed between the two first chains and are all connected to the two first chains.

5. The storage and distribution equipment according to claim 4, characterized in that, The cyclic motion mechanism further includes: The main frame is fixedly installed inside the first cabinet. The first motor is mounted on the main frame; The first single-row gear is connected to the output shaft of the first motor; A double-row gear is positioned below the first single-row gear; The second chain connects both the first single-row gear and one of the rows of gears in the double-row gear; The 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 with the second single-row gear; The third single-row gear and the fourth single-row gear are arranged opposite to the double-row gear, and the fourth single-row gear is arranged opposite to the second single-row gear. Another first chain connects the third single-row gear and the fourth single-row gear. A first connecting shaft connects the third single-row gear to the double-row gear; and The second connecting shaft connects the fourth single-row gear to the second single-row gear.

6. The storage and distribution equipment according to claim 5, characterized in that, The storage box unit also includes a third connecting shaft and a longitudinally elongated rotating connecting plate. The top of the box body is provided with a hanging ear, and the third connecting shaft passes 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 third connecting shaft.

7. The storage and distribution equipment according to claim 5, characterized in that, The box body is provided with a first opening, a second opening, and a push port; the first opening is positioned facing the storage port, the second opening is positioned opposite to the push port, and the push port is positioned opposite to the push mechanism.

8. The storage and distribution equipment according to claim 7, characterized in that, The pushing mechanism 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 push plate; the first pushing base plate is fixed on the main frame, the second motor is mounted on the first pushing base plate, the second pushing base plate is positioned above the first pushing base plate, and the third pushing base plate is positioned above the second pushing base plate; the first transmission assembly connects the output shaft of the second motor to 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 move the third pushing base plate in the same direction as the second pushing base plate while the second pushing base plate moves; the push plate is positioned at the end of the third pushing base plate close to the pushing port, and the size of the push plate is smaller than the size of the pushing port.

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

10. The storage and distribution equipment according to any one of claims 2 to 9, characterized in that, The storage cabinet is configured as two, and the two storage cabinets are arranged side by side.

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