A take express device, express transfer equipment and express transfer method

Abstract

The application discloses a kind of take express device, express transfer equipment and express transfer method.The take express device includes express container and transport main body, express container is formed with the accommodation cavity of accommodating express, and with top opening and side opening, transport main body has walking state, loading state and unloading state.In loading state, express can enter the accommodation cavity by top opening;In walking state, express in the accommodation cavity can be moved to target position with transport main body;In unloading state, express in the accommodation cavity can slide to side opening along the inclined setting and can be removed from express container by side opening.The take express device can replace artificial and realize automatic receipt and automatic unloading of express, without user personally going out to receive express, improve the life quality of user, also avoid the generation of additional cost caused by express long time retention in express temporary storage.

Description

Technical Field

[0001] This invention relates to the field of logistics equipment technology, and in particular to a package pickup device, package transfer equipment, and package transfer method. Background Technology

[0002] With the development of the logistics industry, the volume of express delivery is increasing. Parcel lockers are devices used to temporarily store parcels, providing convenience for users who cannot immediately retrieve their packages. Currently, parcels can only be retrieved manually from the lockers, which not only takes up the user's time but is also inconvenient for busy users. Furthermore, parcel lockers are generally located outdoors, meaning users have to brave the harsh weather to retrieve their packages, and may incur extra fees for exceeding the time limit, unnecessarily increasing their living costs. Summary of the Invention

[0003] The purpose of this invention is to provide a package pickup device and package transfer equipment that can solve the problems of poor user experience caused by users having to go out to pick up packages in person and high costs caused by untimely pickup.

[0004] To achieve this objective, the present invention adopts the following technical solution: A parcel pickup device includes: a parcel container having a cavity for holding a parcel, and having a top opening and a side opening; a transport body, the parcel container being mounted on the transport body, the transport body having a walking state, a loading state, and an unloading state, wherein in the unloading state, the transport body causes the placement surface of the cavity to be inclined; wherein, in the loading state, the parcel can enter the cavity through the top opening; in the walking state, the parcel located in the cavity can move with the transport body to a target location; in the unloading state, the parcel located in the cavity can slide along the inclined placement surface to the side opening and can be removed from the parcel container through the side opening.

[0005] Preferably, the express container includes a container body and a side door structure. The container body has a top opening and a side opening. The top opening is always open, and the side door structure is closable at the side opening. Alternatively, the express container includes a container body, a side door structure, and a top door structure. The container body has a top opening and a side opening. The top door structure is closable at the top opening, and the side door structure is closable at the side opening.

[0006] Preferably, the express container includes a side door structure located at the side opening, the side door structure being a single-door structure or a double-door structure; and / or, the express container includes a top door structure located at the top opening, the top door structure being a single-door structure or a double-door structure; and / or, the express container includes a container body, the side opening being a rear opening formed at the rear side of the container body, and the side door structure being a rear door that can be opened and closed at the rear opening.

[0007] Preferably, the express container includes a container body and a side door structure. The container body has the side opening, and one end of the side door structure is rotatably connected to the edge of the side opening. The express delivery device also includes a hoisting mechanism, which includes a hoisting motor, a winding reel, a limiting guide wheel, and a door line. The motor shaft of the hoisting motor is drivenly connected to the winding reel. One end of the door line is wound around the winding reel, and the other end passes over the limiting guide wheel and is fixed to the side door structure. The limiting guide wheel is located on the container body and is used to guide and limit the door line.

[0008] Preferably, the express container is provided with a plurality of pulleys on the shelf surface, the plurality of pulleys being spaced apart along the inclined direction of the shelf surface, and the top of the pulleys protruding from the shelf surface.

[0009] Preferably, the transport vehicle is a robot dog.

[0010] A parcel transfer device includes a parcel storage device and the aforementioned parcel retrieval device. The parcel storage device has a storage chamber for storing parcels. The storage chamber is positioned higher than the retrieval device. The parcel storage device is capable of pushing the parcels out of the storage chamber so that the parcels fall into the receiving cavity of the parcel container.

[0011] Preferably, the parcel storage device includes a parcel locker and a door opening mechanism. The parcel locker forms the storage chamber. The parcel locker includes a cabinet and a door. The cabinet has an opening, and one end of the door is rotatably connected to the edge of the opening. The door opening mechanism includes a start / stop motor, a first coupling, and a linkage structure. The motor shaft of the start / stop motor is connected to the input end of the linkage structure through the first coupling. The output end of the linkage structure is connected to the door and can drive the door to open to a horizontal position.

[0012] Preferably, the parcel storage device includes a parcel locker and a pushing device, wherein the parcel locker forms the storage chamber, and the pushing device is used to push the parcel out of the storage chamber.

[0013] Preferably, the propulsion device includes a propulsion drive component, a lead screw, a nut sleeve, a cross linkage mechanism, a slide chute, and a pusher. The output end of the propulsion drive component is connected to one end of the lead screw. The nut sleeve is threaded onto the lead screw, forming a lead screw and nut pair. The slide chute is fixedly mounted on the parcel locker. The cross linkage mechanism is telescopically connected between the slide chute and the pusher. The cross linkage mechanism has two moving ends and two rotating ends. The two moving ends are movably mounted on the slide chute and the pusher, respectively. The two rotating ends are mounted on the slide chute and the pusher, respectively. One of the two moving ends is connected to the nut sleeve. The pusher is used to push the parcel out of the temporary storage chamber.

[0014] Another objective of this invention is to provide a method for transferring express deliveries that can solve the problems of poor user experience caused by users having to go out in person to pick up their packages and high costs caused by untimely pickup.

[0015] To achieve this objective, the present invention adopts the following technical solution: A method for transferring express parcels, using the aforementioned express parcel transfer equipment, includes the following steps: The transport vehicle, which is in motion, moves the express container to the point where the express package fell at the express storage device. The transport vehicle stops moving and switches to loading mode, and the top opening of the express container is open. The express delivery storage device pushes the express delivery located in the storage chamber out, and the express delivery falls into the receiving cavity of the express delivery container through the top opening; The transport vehicle switches to walking mode and moves the express container to the target location; The transport vehicle stops moving and switches to the unloading state. The side opening of the express container is open, the placement surface of the receiving cavity is adjusted to an inclined state, and the express package located in the receiving cavity slides along the placement surface and is removed from the express container through the side opening.

[0016] Preferably, the transport vehicle includes an RGBD camera and a barcode scanning device; the transport vehicle in motion transfers the express container to the express drop location at the express storage device, including the following steps: The transport vehicle is guided to the express delivery storage device by the RGBD camera, and the scanning device is brought into the scanning range. The scanning device scans the QR code within the scanning range and obtains the information carried by the QR code. The transport vehicle moves to the drop location of the express delivery according to the information, so that the top opening stops on the drop path of the express delivery.

[0017] Preferably, the transport body is a robotic dog with front and hind legs, and the side opening is located at the rear of the express container; The specific method for adjusting the placement surface of the receiving cavity to an inclined state is as follows: adjusting the position of the front leg and the hind leg so that the front leg is higher than the hind leg, and causing the placement surface to gradually tilt downward in the direction from front to back.

[0018] Preferably, the express delivery storage device pushes the express delivery located in the storage chamber out by the following steps: The door opening mechanism activates, opening the door of the parcel locker. The propulsion device is activated, pushing the package located in the temporary storage chamber out. The package falls downwards after passing through the door.

[0019] The beneficial effects of this invention are: The parcel pickup device provided by this invention includes a parcel container and a transport body. The parcel container has a receiving cavity for holding the parcel, as well as a top opening and a side opening. The parcel container is mounted on the transport body, which has a walking state, a loading state, and an unloading state. In the unloading state, the transport body tilts the placement surface of the receiving cavity to guide the parcel within the receiving cavity to the side opening. In the loading state, the parcel can enter the receiving cavity through the top opening; in the walking state, the parcel within the receiving cavity can move with the transport body to the target location; in the unloading state, the parcel within the receiving cavity can slide along the tilted placement surface to the side opening and be removed from the parcel container through the side opening. This parcel pickup device can replace manual labor to automatically pick up and unload parcels, eliminating the need for users to go out to pick up their parcels, improving their quality of life, and avoiding additional costs caused by parcels being stored for extended periods. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a parcel transfer device; Figure 2 This is a diagram showing that the top and side openings of the express delivery container are both closed. Figure 3 This is a diagram showing the second open state of the express delivery container. Figure 4 yes Figure 2 A schematic diagram of the structure shown from another perspective; Figure 5 This is a schematic diagram of the propulsion device; Figure 6 This is a schematic diagram of the propulsion device from another perspective; Figure 7 This is a schematic diagram of the support structure and express delivery temporary storage device.

[0021] In the picture: 100. Express delivery container; 101. Receiving cavity; 102. Side opening; 110. Container body; 120. Side door structure; 130. Top door structure; 140. Hoisting mechanism; 141. Hoisting motor; 142. Winding reel; 143. Limiting guide wheel; 150. Pulley; 160. Door opening motor; 200. Transportation entity; 300. Express delivery temporary storage device; 301. Temporary storage chamber; 310. Express delivery locker; 311. Box body; 312. Door body; 320. Door opening mechanism; 321. Linkage structure; 330. Propulsion device; 331. Propulsion drive component; 3311. Propulsion motor; 3312. Bearing housing; 3313. Second coupling; 332. Lead screw; 333. Nut sleeve; 3331. Sleeve-like part; 3332. Rod-like part; 334. Cross linkage mechanism; 335. Slide groove component; 3351. Slide groove plate; 3352. Slide groove; 3353. Mounting plate; 336. Push component; 337. Roller; 400. Supporting institutions. Detailed Implementation

[0022] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0023] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0024] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0025] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0026] This invention discloses a package pickup device that can replace manual labor to retrieve packages from parcel lockers or parcel points (collectively referred to as parcel storage areas), transport the packages to their destination, and automatically unload them upon arrival. It should be noted that after unloading the packages at the destination, the pickup device switches to an idle state, ready to perform the next package pickup task. Furthermore, this package pickup device can be used in daily life for picking up routine packages; it can also be used in logistics warehouses for package sorting; and it can be used in workplaces for transferring tools, parts, etc.

[0027] like Figures 1 to 4 As shown, the express delivery device includes an express delivery container 100 and a transport body 200. The express delivery container 100 has a receiving cavity 101 for holding express packages, and also has a top opening and a side opening 102 communicating with the receiving cavity 101. The top opening is generally used as an express package inlet, and the side opening 102 is generally used as an express package outlet. The express delivery container 100 is mounted on the transport body 200 and can move synchronously with the transport body 200. The transport body 200 has a walking state, a loading state, and an unloading state. In the unloading state, the transport body 200 tilts the surface of the receiving cavity 101 to guide the express package located in the receiving cavity 101 to the side opening 102. When loaded, the express delivery can enter the receiving cavity 101 through the top opening; when in the moving state, the express delivery in the receiving cavity 101 can move to the target position with the transport body 200; when unloading, the express delivery in the receiving cavity 101 can slide along the inclined placement surface to the side opening 102 and can be removed from the express delivery container 100 through the side opening 102.

[0028] The express container 100 has a first open state with an open top opening and a second open state with an open side opening 102. In the first open state, an express package can be placed into the receiving cavity 101. In the second open state, the express package in the receiving cavity 101 can be unloaded from the side opening 102. The process of retrieving an express package using this express retrieval device is as follows: First, the transport body 200 carries the express container 100 to the express retrieval position and switches to the loading state. At this time, the express container 100 is in the first open state. The express package enters the receiving cavity 101 of the express container 100 through the open top opening. Regarding the way the express package passes through the top opening, it can be that it falls directly from the express cabinet 310 located at a height and passes through the top opening, or it can be placed into the express container by a person located at the express retrieval position. After the express package enters the express container 100, the transport body 200 switches to the walking state, and the transport body 200 carries the express container. 100 and the express delivery are moved to the express delivery unloading position (and the aforementioned target position); after the express delivery reaches the express delivery unloading position, the transport body 200 switches to the stop unloading state. The transport body 200 tilts its side or pitches back and forth, so that the storage surface of the receiving cavity 101 of the express delivery container 100 located on it is tilted. The side opening 102 is located at the lower part of the storage surface. The express delivery on the storage surface moves towards the side opening 102 under the action of gravity. The express delivery container 100 is adjusted to the second open state. The express delivery is moved out of the express delivery container 100 through the opened side opening 102 and stays at the express delivery unloading position.

[0029] Compared to existing technologies where delivery personnel must personally go out to collect packages, the package collection device provided by this invention can replace manual labor to achieve automatic package collection and unloading. This design eliminates the need for users to personally go out to collect packages, improving their quality of life and avoiding additional costs caused by packages being stored at temporary storage locations for extended periods.

[0030] like Figures 2 to 4 As shown, the express container 100 includes a container body 110, which has a top opening and a side opening 102. In some embodiments, the container body 110 includes a bottom plate structure and a side plate structure. The side plate structure is located at the edge of the bottom plate structure and protrudes upward. The top edge of the side plate structure forms a top opening. The side plate structure is a non-circular structure, and a side opening 102 is formed between the two ends of the side plate structure. In one embodiment, the bottom plate structure is a rectangular plate, and three side plate structures are provided. The three side plate structures are respectively located at the three edges of the bottom plate structure, and a side opening 102 is formed above the edge of the bottom plate structure where no side plate structure is provided.

[0031] The express delivery container 100 also includes a side door structure 120, which is closable at the side opening 102. The bottom plate structure, side plate structure, and side door structure 120 together form a receiving cavity 101. The side opening 102 can be opened or closed by operating the side door structure 120. It should be noted that the side opening 102 can be a rear opening formed on the rear side of the container body 110, and correspondingly, the side door structure 120 is a rear door closable at the rear opening; the side opening 102 can also be a left opening formed on the left side or a right opening formed on the right side of the container body 110, and correspondingly, the side door structure 120 is a left door closable at the left opening or a right door closable at the right opening.

[0032] Regarding the opening method of the side door structure 120, it can be either a rotating opening or a sliding opening. In some embodiments, one end of the side door structure 120 is rotatably connected to the edge of the side opening 102. In one embodiment, the side door structure 120 is rotatably connected to the base plate structure via a hinge with a torsion spring, the torsion spring keeping the side door structure 120 in the open state. The express delivery device also includes a hoisting mechanism 140, which includes a hoisting motor 141, a winding reel 142, a limiting guide wheel 143, and a door cable. The motor shaft of the hoisting motor 141 is drivenly connected to the winding reel 142. One end of the door cable is wound around the winding reel 142, and the other end passes over the limiting guide wheel 143 and is fixed to the side door structure 120. The limiting guide wheel 143 is provided on the container body 110 and is used for guiding and limiting the door cable. The motor shaft of the hoist motor 141 can rotate clockwise or counterclockwise around its motor axis, thereby driving the winding reel 142 to rotate clockwise or counterclockwise. As the winding reel 142 rotates clockwise, the door cable can be gradually released, thereby gradually opening the side door structure 120. As the winding reel 142 rotates counterclockwise, the door cable can be gradually retracted, thereby gradually closing the side door structure 120.

[0033] In one embodiment, the side door structure 120 is a rear door. The bottom end of the rear door is rotatably connected to the rear end of the base plate structure via a hinge with a torsion spring. The hoisting motor 141 is located at the front end of the container body 110, and the limiting guide wheel 143 is located on the side plate structure on the left or right side. The door line passes around the limiting guide wheel 143 on the side plate structure from front to back and connects to the upper middle part of the rear door. Of course, in other embodiments, if the side door structure 120 is a left door or a right door, the positions of the hoisting motor 141 and the limiting guide wheel 143 can also be adjusted as needed.

[0034] In one embodiment, the door line is a PE line. PE, also known as polyethylene, is a thermoplastic resin obtained by polymerizing ethylene monomers. It has the characteristics of being odorless, non-toxic, having excellent low-temperature resistance, good chemical stability, corrosion resistance, and excellent electrical insulation.

[0035] In one embodiment, the side door structure 120 is a single-door structure; in another embodiment, the side door structure 120 is a double-door structure. If the side door structure 120 is a double-door structure, it includes two side door panels, and each side door panel is provided with a side opening motor at its pivot point. The side opening motor drives the side door panel to rotate, thereby realizing opening and closing.

[0036] like Figure 2 As shown, the express container 100 also includes a top door structure 130. The container body 110 has a top opening, and the top door structure 130 is closable at the top opening. By setting the top door structure 130, the receiving cavity 101 can be fully enclosed, thereby completely confining the express package within the receiving cavity 101 and preventing the express package from accidentally popping out of the open top opening and falling outside due to poor road conditions.

[0037] In order to realize the opening and closing of the top door structure 130, the express delivery device also includes a door opening motor 160. One end of the top door structure 130 is rotatably connected to the side plate structure through a first rotating shaft. The motor shaft of the door opening motor 160 is connected to one end of the first rotating shaft. Under the drive of the door opening motor 160, the top door structure 130 can rotate around the first rotating shaft, thereby realizing the opening and closing actions.

[0038] In one embodiment, the top door structure 130 is a single-door structure; in another embodiment, the top door structure 130 is a double-door structure. If the top door structure 130 is a single-door structure, then one door opening motor 160 can be provided; if the top door structure 130 is a double-door structure, then two door opening motors 160 can be provided.

[0039] Of course, the top opening of the container body 110 may not have a top door structure 130, so that the top opening is always open. This setting helps to reduce the manufacturing cost of the express delivery device.

[0040] To reduce the difficulty of the express delivery sliding down the inclined shelf to the side opening 102, in some embodiments, the express container 100 is provided with at least one pulley assembly. The pulley assembly includes multiple pulleys 150 spaced apart on the shelf, with the multiple pulleys 150 spaced apart along the inclined direction of the shelf. Each pulley 150 is rotatably connected to the base plate structure, and the top of the pulley 150 protrudes from the shelf. The pulleys 150 not only reduce the contact area between the express delivery and the container body 110, thereby reducing frictional resistance, but also, because the friction between the pulleys 150 and the express delivery is rolling friction, which is less than sliding friction, it allows the express delivery to slide to the side opening 102 more quickly, facilitating efficient unloading of the express delivery.

[0041] In some embodiments, at least a portion of the bottom plate structure, side plate structure, side door structure 120, and top door structure 130 constituting the express container 100 are carbon-containing plates.

[0042] like Figure 1 As shown, in some embodiments, the transport body 200 is a robot dog. In one embodiment, a container mounting surface for mounting the express container 100 is formed on the top surface of the robot dog's back, and the express container 100 is mounted above the robot dog; in another embodiment, a container mounting surface for mounting the express container 100 is formed on the side of the robot dog's back, and the express container 100 is mounted to the side of the robot dog. Regardless of whether it is mounted above or to the side of the robot dog, the top opening is always vertically upward, and the side opening 102 is always horizontally outward, so as not to affect the entry and exit of express packages from the express container 100.

[0043] The robot dog's head is equipped with an RGBD camera, which can simultaneously acquire color images and depth information of the scene, providing the robot dog with rich 3D environmental perception capabilities. This enables it to perform various intelligent functions, such as environmental perception and 3D modeling, obstacle detection, and safety obstacle avoidance. The robot dog also features a barcode scanner, which enables precise positioning by scanning QR codes placed at the package pickup location. The RGBD camera is mainly used for approximate positioning, while the barcode scanner is mainly used for precise positioning; the combination of the two satisfies positioning requirements while reducing costs.

[0044] The specific structure of the robot dog is existing technology and will not be detailed here. Currently, any robot dog with walking, forward / backward tilting (or lateral tilting) functions can be used as the transport body 200. It should be noted that if the side door structure 120 is a rear door, the robot dog needs to have forward / backward tilting functionality, meaning it can adjust to a head-high, tail-low position, allowing the storage surface to gradually tilt downwards from front to back. If the side door structure 120 is a left or right door, the robot dog needs to have lateral tilting functionality, meaning it can adjust to unequal heights on the left and right sides, allowing the storage surface to tilt left and right. Of course, the side structure can also be a front door, in which case the robot dog can adjust to a head-low, tail-high position, allowing the storage surface to gradually tilt downwards from back to front.

[0045] Besides the robot dog, in some parallel embodiments, the transport entity 200 can also be a shuttle or humanoid robot with at least walking, loading, and unloading states. The specific structure of the shuttle or humanoid robot is prior art and will not be detailed here.

[0046] This invention also discloses a courier transfer device, such as... Figure 1As shown, the express delivery transfer equipment includes an express delivery storage device 300 and the aforementioned express delivery retrieval device. The express delivery storage device 300 has a storage chamber 301 for temporarily storing express deliveries. The storage chamber 301 is positioned higher than the express delivery retrieval device. The express delivery storage device 300 can push the express delivery out of the storage chamber 301, so that the express delivery falls into the receiving cavity 101 of the express delivery container 100. The express delivery storage device 300 provides a place for the temporary storage of express deliveries. The express delivery storage device 300 can be an express delivery locker 310 or a storage rack, etc.

[0047] When the package retrieval device moves to the location of the package storage device 300, the package container 100 is positioned side-by-side with the storage device 300. The storage device 300 then pushes the package out of the storage chamber 301. Under gravity, the package falls through the top opening of the package container 100 into the receiving chamber 101. The entire process of transferring the package from the storage device 300 to the retrieval device requires no human intervention, achieving fully automated package transfer.

[0048] The parcel storage device 300 includes a parcel locker 310, within which a storage chamber 301 is formed. The parcel locker 310 includes a cabinet 311 and a door 312. The cabinet 311 has an opening, and one end of the door 312 is rotatably connected to the edge of the opening. In one embodiment, the parcel locker 310 is cubical in shape, with an opening on the left side of the cabinet 311. The bottom end of the door 312 is rotatably connected to the left end of the bottom plate of the cabinet 311, and the top of the door 312 flips from top to bottom and to the left to open.

[0049] The express delivery temporary storage device 300 also includes a door opening mechanism 320, which includes a start-stop motor, a first coupling and a linkage structure 321. The motor shaft of the start-stop motor is connected to the input end of the linkage structure 321 through the first coupling. The output end of the linkage structure 321 is connected to the door body 312 and can drive the door body 312 to open to a horizontal state.

[0050] In some embodiments, the linkage structure 321 is a four-bar structure, comprising a first bar, a second bar, a third bar, and a fourth bar that are rotatably connected in sequence. The first bar and the third bar are arranged in parallel, as are the second bar and the fourth bar. The two ends of the first bar are rotatably connected to one end of the second bar and one end of the fourth bar, respectively. The other end of the second bar is rotatably connected to the middle of the third bar, and the other end of the fourth bar is rotatably connected to one end of the third bar. The other end of the third bar is connected to the side plate of the door 312. The first bar and the fourth bar are rotatably connected via a second rotating shaft, and the motor shaft of the opening / closing motor is connected to the second rotating shaft via a first coupling. Of course, in other embodiments, other forms of linkage structure 321 can be used to connect the door 312 to the opening / closing motor, converting the rotational motion output by the opening / closing motor into the opening and closing motion of the door 312; it is not limited to a four-bar structure.

[0051] In some embodiments, two linkage structures 321 are provided: an active linkage structure and an auxiliary linkage structure. The active linkage structure and the auxiliary linkage structure are respectively located on the front and rear side plates of the housing 311. The active linkage structure 321 is connected to the motor shaft of the opening and closing motor, and the auxiliary linkage structure plays an auxiliary role to improve the stability and accuracy of the opening and closing of the door 312. Of course, in other embodiments, two opening and closing motors can also be provided, with each motor connected to one of the two linkage structures 321. Each linkage structure 321 simultaneously functions as both an active linkage structure and an auxiliary linkage structure.

[0052] In one embodiment, the auxiliary linkage structure includes a return torsion spring at its second pivot point. The return torsion spring tends to keep the door 312 in the closed state. After closing, the door 312 is tightened by the torsion spring, reducing the probability of accidental opening and improving the security of the express delivery locker 310.

[0053] The express delivery storage device 300 also includes a propulsion device 330, which can be installed inside or outside the storage chamber 301. The propulsion device 330 is used to push the express delivery out of the storage chamber 301.

[0054] like Figure 5 and Figure 6 As shown, in some embodiments, the propulsion device 330 includes a propulsion drive 331, a lead screw 332, a nut sleeve 333, a cross linkage mechanism 334, a slide rail 335, and a pusher 336. The output end of the propulsion drive 331 is connected to one end of the lead screw 332. The nut sleeve 333 is threaded onto the lead screw 332, forming a lead screw and nut pair. The slide rail 335 is fixedly mounted on the express cabinet 310. The cross linkage mechanism 334 is telescopically connected between the slide rail 335 and the pusher 336. The cross linkage mechanism 334 has two moving ends and two rotating ends. The two moving ends are movably mounted on the slide rail 335 and the pusher 336, respectively. The two rotating ends are mounted on the slide rail 335 and the pusher 336, respectively. One of the two moving ends is connected to the nut sleeve 333. The pusher 336 is used to push the express package out of the temporary storage chamber 301.

[0055] Driven by the propulsion drive 331, the lead screw 332 can rotate around its central axis, and the nut sleeve 333 can move along the axial direction of the lead screw 332. As the nut sleeve 333 moves, the two moving ends of the cross linkage mechanism 334 move and move towards their corresponding rotating ends. During this process, the length of the cross linkage mechanism 334 increases. Since the sliding groove 335 is fixed, the pusher 336 can move with the extension of the cross linkage mechanism 334, pushing the express delivery in front of it to the outside of the temporary storage chamber 301, so that the express delivery reaches the horizontally set door 312. As the cross linkage mechanism 334 continues to extend, the express delivery falls from the door 312 into the receiving cavity 101 of the express delivery container 100. This propulsion device 330 occupies little space and is easy to install in the express cabinet 310, which is conducive to the miniaturization of the express delivery temporary storage device 300.

[0056] In one embodiment, the slide rail 335 includes two spaced slide rail plates 3351, each slide rail plate 3351 having a slide groove 3352. The nut sleeve 333 includes a sleeve-shaped portion 3331 and rod-shaped portions 3332 disposed on opposite sides of the sleeve-shaped portion 3331. The two rod-shaped portions 3332 are respectively disposed through the two slide grooves 3352 and can move within the slide grooves 3352.

[0057] In one embodiment, both moving ends of the cross linkage mechanism 334 are provided with connecting holes, and the two rod-shaped parts 3332 pass through the two connecting holes and enter the two sliding grooves 3352 respectively.

[0058] In one embodiment, a limiting sleeve is provided at the end of the rod-shaped portion 3332. The limiting sleeve is located on the side of the slide groove 335 away from the sleeve-shaped portion 3331. The limiting sleeve plays a limiting role to prevent the rod-shaped portion 3332 from disengaging from the slide groove 3352.

[0059] In one embodiment, a nylon sleeve is fitted onto the rod-shaped portion 3332, and the limiting sleeve moves within the groove 3352 of the sliding part 335 to improve wear resistance.

[0060] In one embodiment, the slide rail 335 further includes a mounting plate 3353, and both slide rails 3351 are fixedly connected to the mounting plate 3353. The mounting plate 3353 can be fixed to the right side plate of the housing 311, or it can be used directly as the right side plate of the housing 311. In one embodiment, the mounting plate 3353 is provided with a first weight-reducing structure, which can be a weight-reducing hole or a weight-reducing groove.

[0061] In one embodiment, the propulsion drive 331 includes a propulsion motor 3311, a bearing housing 3312, and a second coupling 3313. The bearing housing 3312 is fixed on the mounting plate 3353. The motor shaft of the propulsion motor 3311 is connected to one end of the lead screw 332 through the second coupling 3313. The lead screw 332 passes through the bearing housing 3312.

[0062] To reduce the resistance during the movement of the pusher 336, the propulsion device 330 also includes a roller 337. The roller 337 is located at the top and / or bottom of the pusher 336 and is supported by rolling on the inner wall of the housing 311, thereby converting sliding friction into rolling friction and reducing the resistance experienced by the pusher 336 during its movement.

[0063] In one embodiment, roller 337 includes an upper roller and a lower roller, with the upper roller located at the top of pusher 336 and the lower roller located at the bottom of pusher 336. In one embodiment, multiple upper rollers are provided, spaced apart in the left-right direction of pusher 336; multiple lower rollers are provided, spaced apart in the left-right direction of pusher 336.

[0064] In one embodiment, the pusher 336 is a plate-shaped structure, and the pusher 336 is provided with a second weight-reducing structure, which can be a weight-reducing hole or a weight-reducing groove.

[0065] Of course, in other embodiments, the propulsion device 330 can also be other mechanisms capable of outputting linear motion, such as a combination of a cylinder and a pusher 336, in which the cylinder rod is directly connected to the pusher 336, enabling the pusher 336 to move in a straight line to push the express out of the storage chamber 301.

[0066] The express delivery temporary storage device 300 also includes a control mechanism, which can be a centralized or distributed controller. For example, the controller can be a single microcontroller or a combination of multiple distributed microcontrollers. The microcontroller can run a control program to control the door opening mechanism 320 and the push device 330 to perform their respective functions.

[0067] like Figure 1 and Figure 7 As shown, the express delivery transfer equipment also includes a support mechanism 400, and an express delivery temporary storage device 300 is mounted on the support mechanism 400 to support the express delivery temporary storage device at a position higher than the express delivery retrieval device. Optionally, the support mechanism 400 is a frame structure formed by splicing rods.

[0068] Taking the temporary storage of express packages in express locker 310 as an example, the working process of an express package transfer device is introduced: First, the robot dog moves with the delivery container 100 and navigates to the approximate location of the delivery locker 310 using an RGBD camera. The robot dog scans the QR code on the door 312 of the delivery locker 310 using a scanning device to ensure that the container body 110 is precisely aligned with the door 312 of the delivery locker 310. Then, the door opening mechanism 320 operates, and the delivery locker 310 opens. Next, the pushing device 330 operates, and the pusher 336 pushes the package out of the delivery locker 310, where it falls into the delivery container 100. The pusher 336 of the pushing device 330 then retracts into the delivery locker 310, and the delivery locker 310 closes. Then, the robot dog delivers the package to the target location, the rear opening of the delivery container 100 opens, and the robot dog switches to a squatting posture with its front legs higher than its hind legs. The package slides down from front to back and falls to the target location. Finally, the rear opening of the delivery container 100 closes, the robot dog stands up, and the entire process of picking up and delivering the package is completed.

[0069] This invention also discloses a method for transferring express parcels, which uses the aforementioned express parcel transfer equipment and includes the following steps: The transport vehicle 200, which is in motion, transfers the express container 100 to the point where the express dropped at the express temporary storage device 300. The transport vehicle 200 stops moving and switches to loading mode, and the top opening of the express container 100 is open. The express delivery storage device 300 pushes the express delivery located in the storage chamber 301 out, and the express delivery falls into the receiving chamber 101 of the express delivery container 100 through the top opening; The transport vehicle 200 switches to walking mode and moves the express container 100 to the target location; The transport body 200 stops moving and switches to the unloading state. The side opening 102 of the express container 100 is open. The placement surface of the receiving cavity 101 is adjusted to an inclined state. The express package located in the receiving cavity 101 slides along the placement surface and is removed from the express container 100 through the side opening 102.

[0070] Through the above-described express delivery transfer method, the express delivery transfer device can realize the transfer of express delivery from the express delivery temporary storage device 300 to the target location. During the transfer process, users do not need to go out, which improves the quality of life for users and avoids the additional costs caused by express delivery being left at the express delivery temporary storage location for a long time.

[0071] In some embodiments, the process of a transport vehicle 200 in a moving state transferring the express container 100 to the express drop location at the express storage device 300 includes the following steps: The transport vehicle 200 is guided to the express temporary storage device 300 by the RGBD camera, and the barcode scanning device is brought into the scanning range. The scanning device scans the QR code within the scanning range and obtains the information carried by the QR code. The transport body 200 moves to the drop location of the express delivery according to the information, so that the top opening stops on the drop path of the express delivery.

[0072] In some embodiments, the top opening of the express container 100 being in the open state means that the top opening of the express container 100 is provided with a top door structure 130. After the transport body 200 stops moving and switches to the loading state, the door opening motor 160 is activated, the first rotating shaft rotates, causing the top door structure 130 to rotate around the first rotating shaft and deflect from the closed position (closing the top opening) to the open position (opening the top opening). In some parallel embodiments, the top opening of the express container 100 is not provided with a top door structure 130, and the top opening of the express container 100 is always in the open state.

[0073] The transport body 200 is a robot dog with front legs and hind legs. There are two front legs, namely the left front leg and the right front leg, and two hind legs, namely the left hind leg and the right hind leg. In some embodiments, if the side opening 102 is located at the rear of the express container 100, adjusting the placement surface of the receiving cavity 101 to an inclined state specifically involves adjusting the position of the front legs and hind legs so that the front legs are higher than the hind legs, and making the placement surface gradually tilt downwards in the direction from front to back.

[0074] Of course, if the side opening 102 is located on the left side of the express container 100, the specific method for adjusting the placement surface of the receiving cavity 101 to a tilted state is as follows: adjust the position of the left front leg, right front leg, left hind leg and right hind leg so that the left front leg and left hind leg are at the same height, the right front leg and right hind leg are at the same height, and the height of the right front leg and right hind leg is higher than the height of the left front leg and left hind leg, and make the placement surface gradually tilt downward from right to left.

[0075] If the side opening 102 is located on the right side of the express container 100, the placement surface of the receiving cavity 101 is adjusted to a tilted state by adjusting the position of the left front leg, right front leg, left hind leg and right hind leg so that the left front leg and left hind leg are at the same height, the right front leg and right hind leg are at the same height, and the height of the right front leg and right hind leg is lower than the height of the left front leg and left hind leg, and the placement surface gradually tilts downward from left to right.

[0076] If the side opening 102 is located in front of the express container 100, the placement surface of the receiving cavity 101 is adjusted to a tilted state by adjusting the position of the front leg and the rear leg so that the front leg is lower than the rear leg, and the placement surface gradually tilts downward in the direction from back to front.

[0077] In some embodiments, the express delivery storage device 300 pushes an express delivery located in the storage chamber 301 out of the express delivery storage device 300, including the following steps: The door opening mechanism 320 operates, opening the door 312 of the express delivery locker 310; The propulsion device 330 is activated, pushing the express delivery located in the temporary storage chamber 301 out. The express delivery falls downward after passing through the door 312.

[0078] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A device for picking up express packages, characterized in that, include: The express container (100) has a receiving cavity (101) for accommodating express delivery and has a top opening and a side opening (102). The transport body (200) is equipped with the express container (100). The transport body (200) has a walking state, a loading state and an unloading state. When the transport body (200) is in the unloading state, the placement surface of the receiving cavity (101) is tilted. In the loading state, the express delivery can enter the receiving cavity (101) through the top opening; in the walking state, the express delivery located in the receiving cavity (101) can move to the target position with the transport body (200); in the unloading state, the express delivery located in the receiving cavity (101) can slide along the inclined placement surface to the side opening (102) and can be removed from the express delivery container (100) through the side opening (102).

2. The express delivery pickup device according to claim 1, characterized in that, The express container (100) includes a container body (110) and a side door structure (120). The container body (110) is provided with a top opening and a side opening (102). The top opening is always open, and the side door structure (120) is closable at the side opening (102). Alternatively, the express container (100) includes a container body (110), a side door structure (120), and a top door structure (130). The container body (110) is provided with the top opening and the side opening (102). The top door structure (130) is closably provided at the top opening, and the side door structure (120) is closably provided at the side opening (102).

3. The express delivery pickup device according to claim 1, characterized in that, The express container (100) includes a side door structure (120) located at the side opening (102), and the side door structure (120) is a single door structure or a double door structure; And / or, the express container (100) includes a top door structure (130) disposed at the top opening, the top door structure (130) being a single door structure or a double door structure; And / or, the express container (100) includes a container body (110), the side opening (102) is a rear opening formed on the rear side of the container body (110), and the side door structure (120) is a rear door that is openable and closable at the rear opening.

4. The express delivery pickup device according to claim 1, characterized in that, The express container (100) includes a container body (110) and a side door structure (120). The container body (110) is provided with the side opening (102), and one end of the side door structure (120) is rotatably connected to the edge of the side opening (102). The express delivery device also includes a hoisting mechanism (140), which includes a hoisting motor (141), a winding reel (142), a limiting guide wheel (143), and a door line. The motor shaft of the hoisting motor (141) is connected to the winding reel (142) for transmission. One end of the door line is wound around the winding reel (142), and the other end passes around the limiting guide wheel (143) and is fixed to the side door structure (120). The limiting guide wheel (143) is provided on the container body (110) and is used to guide and limit the door line.

5. The express delivery pickup device according to claim 1, characterized in that, The express container (100) is provided with a plurality of pulleys (150) on the shelf surface. The plurality of pulleys (150) are spaced apart along the inclined direction of the shelf surface, and the top of the pulleys (150) protrudes from the shelf surface.

6. The express delivery pickup device according to claim 1, characterized in that, The transport vehicle (200) is a robot dog.

7. A parcel transfer device, characterized in that, The device includes a parcel storage device (300) and a parcel retrieval device according to any one of claims 1-6. The parcel storage device (300) has a storage chamber (301) for storing parcels. The storage chamber (301) is positioned above the parcel retrieval device. The parcel storage device (300) is capable of pushing the parcels out of the storage chamber (301) so that the parcels fall into the receiving cavity (101) of the parcel container (100).

8. The express delivery transfer device according to claim 7, characterized in that, The express delivery temporary storage device (300) includes an express cabinet (310) and a door opening mechanism (320). The temporary storage chamber (301) is formed inside the express cabinet (310). The express cabinet (310) includes a box body (311) and a door body (312). The box body (311) has a box opening, and one end of the door body (312) is rotatably connected to the edge of the box opening. The door opening mechanism (320) includes a start-stop motor, a first coupling and a linkage structure (321). The motor shaft of the start-stop motor is connected to the input end of the linkage structure (321) through the first coupling. The output end of the linkage structure (321) is connected to the door body (312) and can drive the door body (312) to open to a horizontal state.

9. The express delivery transfer device according to claim 7, characterized in that, The express delivery temporary storage device (300) includes an express cabinet (310) and a pusher (330). The temporary storage chamber (301) is formed inside the express cabinet (310), and the pusher (330) is used to push the express delivery out of the temporary storage chamber (301).

10. The express delivery transfer device according to claim 9, characterized in that, The propulsion device (330) includes a propulsion drive (331), a lead screw (332), a nut sleeve (333), a cross linkage mechanism (334), a slide rail (335), and a pusher (336). The output end of the propulsion drive (331) is connected to one end of the lead screw (332). The nut sleeve (333) is threaded onto the lead screw (332) and forms a lead screw and nut pair. The slide rail (335) is fixedly mounted on the express cabinet (310). The cross linkage mechanism (334) is telescopically movable. Connected between the slide (335) and the pusher (336), the cross linkage mechanism (334) has two movable ends and two rotating ends. The two movable ends are respectively movably disposed on the slide (335) and the pusher (336), and the two rotating ends are respectively disposed on the slide (335) and the pusher (336). One of the two movable ends is connected to the nut sleeve (333). The pusher (336) is used to push the express delivery out of the temporary storage chamber (301).

11. A method for transferring express packages, characterized in that, Using the express delivery transfer device according to any one of claims 7-10, the express delivery transfer method includes the following steps: The transport vehicle (200) in motion transfers the express container (100) to the express drop location at the express storage device (300); The transport vehicle (200) stops moving and switches to loading mode, and the top opening of the express container (100) is in the open state; The express delivery storage device (300) pushes the express delivery located in the storage chamber (301) out, and the express delivery falls into the receiving cavity (101) of the express delivery container (100) through the top opening; The transport vehicle (200) switches to walking mode and moves the express container (100) to the target location; The transport body (200) stops moving and switches to the unloading state. The side opening (102) of the express container (100) is open. The placement surface of the receiving cavity (101) is adjusted to an inclined state. The express package located in the receiving cavity (101) slides along the placement surface and is moved out of the express container (100) through the side opening (102).

12. The express delivery transfer method according to claim 11, characterized in that, The transport vehicle (200) includes an RGBD camera and a barcode scanner; the transport vehicle (200) in a moving state transfers the express container (100) to the express drop location at the express storage device (300) by the following steps: The transport vehicle (200) is guided to the express delivery storage device (300) by the RGBD camera, and the scanning device is brought into the scanning range; The scanning device scans the QR code within the scanning range and obtains the information carried by the QR code. The transport body (200) moves to the drop location of the express delivery according to the information, so that the top opening stops on the drop path of the express delivery.

13. The express delivery transfer method according to claim 11, characterized in that, The transport body (200) is a robot dog with front legs and hind legs, and the side opening (102) is located at the rear of the express container (100); The placement surface of the receiving cavity (101) is adjusted to a tilted state by adjusting the position of the front leg and the hind leg so that the front leg is higher than the hind leg, and the placement surface gradually tilts downward in the direction from front to back.

14. The express delivery transfer method according to claim 11, characterized in that, The express delivery storage device (300) ejects the express delivery located in the storage chamber (301) by the following steps: The door opening mechanism (320) is activated to open the door (312) of the express cabinet (310); The propulsion device (330) is activated to push the express delivery located in the temporary storage chamber (301) out, and the express delivery falls downward after passing through the door (312).

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