Full-automatic delivery device and automatic vending system

Abstract

The utility model provides a full-automatic delivery device and an automatic vending system, and relates to the technical field of automatic delivery and vending. The full-automatic delivery device comprises a controller, a warehouse and a goods AI shooting re-checking structure. A three-dimensional plane goods shelf is arranged in the warehouse, the three-dimensional plane goods shelf is divided into multiple layers of spaces through multiple layers of horizontally-arranged partition plates, each layer of partition plate forms a flat pallet to store goods, and the flat pallets are power-source-free pallets. A goods storing and taking mechanical arm is arranged corresponding to the three-dimensional plane goods shelf, and the goods storing and taking mechanical arm is used for loading goods to the flat plate pallets or taking the goods from the flat plate pallets and moving the goods to a goods taking opening for goods discharging; and the goods AI shooting re-checking structure is used for shooting and re-checking the goods to be delivered. According to the utility model, the intelligent degree and the accuracy of goods delivery are improved, and the user experience is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic delivery and vending, and in particular to a fully automatic delivery device and an automatic vending system. Background Art

[0002] Vending machines have been widely installed in hotels, schools, residential areas or other public places due to their advantages such as unmanned operation and 24-hour operation.

[0003] With the popularity of vending machines, the form of automatic delivery / collection has also been used in the medical field. Existing medicine dispensing machines and automated pharmacies can grab boxed medicines through sorting equipment, identify them, and add medicines to the corresponding pallet position for storage. After the system receives the prescription / order, it transports the medicines in the prescription / order to the medicine outlet to achieve rapid automatic delivery of medicines. For example, Chinese patent ZL202022685074.7 discloses a self-service medicine vending machine with an automatic inventory function, which includes a storage area in Area A, a loading area in Area B, a self-service medicine vending area / takeaway medicine pickup area in Area C, and a manual medicine vending area in Area D; the storage area in Area A is for storing pre-sold medicines, and the storage cabinet adopts a multi-layer three-dimensional storage space composed of stacked aluminum profiles + PVC boards + glass partitions, including two rows of storage shelves on the left and right, and a walking track for the storage robot to walk in the middle of the storage shelves; the loading area in Area B provides a replenishment / loading operation space for the storage cabinet, and the robot is controlled by the PLC control module to load the medicines. Specifically, it includes the warehouse robot X-axis, warehouse robot Y-axis, warehouse robot Z-axis, mechanical gripper, warehouse robot S-rotation axis, replenishment operation screen, barcode scanning identifier, replenishment card station, PLC control module, non-powered cargo channel, server, loading platform, etc.; the self-service medicine purchase area / O2O takeaway medicine pickup area in Area C provides consumers with a transaction service window for purchasing medicines and a medicine pickup window, realizing the self-service medicine purchase and takeaway medicine pickup functions through interaction between consumers and machines; the manual medicine sales / pickup area in Area D: Its main function is to serve as a window for pharmacy service staff / licensed pharmacists to pick up medicines from the storage cabinet, realizing efficient medicine management and manual medicine sales and pickup functions. The above solution reduces the timeliness and labor cost of manual on-site inventory counting, improving timeliness and inventory counting efficiency. For another example, Chinese patent application CN 202211020305.X discloses an automatic medicine dispensing machine for boxed medicines, comprising: a sorting machine; a bagging unit, the bagging unit being connected to the sorting machine; a current medicine dispensing chamber, the current medicine dispensing chamber being arranged on one side of the bag dispensing position of the bagging unit; a transport unit, the transport unit being arranged in the current medicine dispensing chamber and connected to the bagging unit; a current medicine dispensing unit, the current medicine dispensing unit being arranged in the current medicine dispensing chamber and connected to the transport unit; a storage and medicine dispensing unit, the storage and medicine dispensing unit being connected to the transport unit. Through the mutual coordination of the bagging unit, the current medicine dispensing unit, the storage and medicine dispensing unit and the transport unit, after the medicines are sorted, the medicines can be bagged, sealed, transported, bagged and temporarily reserved for storage, etc., thereby realizing the automation of medicine dispensing, quick and easy medicine dispensing by appointment, speeding up the medicine dispensing speed and saving the later packaging process.

[0004] However, the above-mentioned self-service drug vending / collection system lacks the operation of reviewing / verifying the shipped drugs, and the automatically shipped drugs may be inconsistent with the ordered drugs, which affects the user experience and may also increase the drug safety risk. Utility Model Content

[0005] The purpose of this utility model is to overcome the shortcomings of the existing technology and provide a fully automatic shipping device and automatic vending system. The fully automatic shipping device provided by this utility model includes a controller and a warehouse. The warehouse is equipped with three-dimensional flat shelves. The flat pallets are non-powered pallets. A product access robot arm is used to remove and ship goods from the pallets. At the same time, an AI product photography and verification structure is also provided, which is used to photograph and verify the goods to be shipped. This utility model improves the intelligence and accuracy of goods shipping and enhances the user experience.

[0006] To achieve the above objectives, the present invention provides the following technical solutions:

[0007] A fully automatic delivery device includes a controller and a cargo compartment, wherein a cargo pickup port is provided corresponding to the cargo compartment;

[0008] The warehouse is provided with three-dimensional flat shelves, which are divided into multiple layers of space by multiple layers of horizontal partitions. Each layer of partitions forms a flat pallet for storing goods. The flat pallet is a non-powered pallet.

[0009] A goods storage and retrieval robot arm is provided corresponding to the three-dimensional flat shelf, and the goods storage and retrieval robot arm is used to load goods onto or take goods from the flat pallet, and move the goods to the pickup port for shipment;

[0010] It also includes an AI product photography and verification structure, which is used to photograph and verify the goods to be shipped.

[0011] Furthermore, it also includes a recycling area, where goods that have passed the review are shipped through the aforementioned pickup port, and goods that have failed the review are transported to the aforementioned recycling area.

[0012] Furthermore, the shelves of the cargo warehouse are also provided with slope cargo lanes, hook cargo lanes, crawler cargo lanes, push plate cargo lanes, spring spiral cargo lanes and / or grid cargo troughs.

[0013] Furthermore, the system further comprises: a replenishment platform provided corresponding to the product access robot arm, and a sorting robot arm and a sorting platform provided corresponding to the replenishment platform, wherein the sorting platform is further provided with a product identification structure for identifying the products in the sorting platform;

[0014] The sorting robot arm is used to grab the goods on the sorting table and place the goods on the replenishment table when the goods pass the identification;

[0015] The product access robot arm is used to grab the aforementioned products on the replenishment table, and move the grabbed products to the corresponding flat tray in the shelf according to the product identification results to complete the replenishment.

[0016] Furthermore, when the goods are located in the sorting platform, the goods identification structure identifies the goods in the sorting platform;

[0017] Alternatively, a sorting robot arm grabs the goods on the sorting platform and moves the goods to the goods identification structure for goods identification.

[0018] Furthermore, the product identification structure is an AI visual recognition structure, which identifies the product by performing image recognition on the product packaging through the AI ​​visual recognition structure; and / or, the product identification structure can scan codes, and identify the product by scanning the code on the product packaging.

[0019] Furthermore, it also includes a machine vision calibration plate, on which a calibration pattern is set. The machine vision calibration plate is set corresponding to the robotic arm and is used for hand-eye calibration of the robotic arm.

[0020] Furthermore, the replenishment platform includes a conveyor belt to form a movable product placement area, and a product position adjustment structure is provided corresponding to the conveyor belt;

[0021] After the sorting robot arm places the grabbed goods on the conveyor belt of the replenishment platform at the correct placement angle, the conveyor belt starts to move the goods to the goods position adjustment structure;

[0022] The product position adjustment structure is used to adjust the position of the product in the conveyor belt so that the product is located in the preset working area of ​​the product access robot arm so that the product can be grabbed by the product access robot arm.

[0023] Furthermore, the product position adjustment structure includes an L-shaped push plate and a push plate driving assembly provided corresponding to the conveyor belt, wherein the push plate driving assembly is used to drive the L-shaped push plate to translate along a specified path above the conveyor belt, and the L-shaped push plate has a first position and a second position above the conveyor belt;

[0024] In the initial state, the L-shaped push plate is located at the first position;

[0025] After the sorting robot arm places the goods on the conveyor belt, the conveyor belt is started to move the goods to the L-shaped push plate, and then the conveyor belt stops working; the push plate driving component is started to drive the L-shaped push plate to move from the aforementioned first position to the aforementioned second position along the specified path, and the L-shaped push plate pushes the goods in the conveyor belt to move on the conveyor belt during the translation process; after the goods are pushed to the preset working area of ​​the goods storage and retrieval robot arm, the push plate driving component is started to drive the L-shaped push plate from the aforementioned second position back to the aforementioned first position.

[0026] Furthermore, the corresponding sorting platform is provided with a replenishment port for replenishment personnel or replenishment equipment to put the goods that need to be replenished;

[0027] The sorting platform is a lifting sorting platform, and a lifting drive component is provided on the corresponding sorting platform for driving the sorting platform to move up and down along a specified path. The sorting platform has a first height position and a second height position in the height direction. The first height position matches the position of the replenishment port, and the second height position matches the position of the replenishment platform.

[0028] When the sorting platform is at a first height position, it can receive goods put in by replenishment personnel or replenishment equipment; after the goods are put in, the lifting drive component is activated to drive the sorting platform to rise or fall from the aforementioned first height position along a specified path to the aforementioned second height position, so that the sorting robot arm can grab the goods in the sorting platform.

[0029] Furthermore, the goods are laid out in a single layer or multiple layers or stacked in disorder in the sorting platform;

[0030] The sorting robot arm grabs the goods through the grabbing structure, rotates the grabbing structure to adjust the orientation of the grabbed goods, and places the goods on the replenishment table at the correct placement angle;

[0031] The goods storage and retrieval robot arm includes a straight mechanical gripper, which clamps the goods on the replenishment table from both sides of the goods, carries the goods over the corresponding flat pallet, and then controls the mechanical gripper to release the grip to place the goods on the flat pallet.

[0032] Furthermore, the goods AI review structure is set on the goods access robot arm, and the goods to be shipped are reviewed by the goods AI review structure on the goods access robot arm. After the review is passed, the goods are shipped normally, and the goods that fail the review are transferred to the recycling area;

[0033] And / or, the goods AI review structure is set corresponding to the pickup port, which is used to review the goods in the pickup port. After the review is passed, the goods are shipped normally, and the goods that fail the review are transferred to the recycling area.

[0034] Furthermore, it also includes a labeling structure, which is used to print product-related information to generate product labels, and affix the product labels to corresponding products that have passed the review.

[0035] Furthermore, it also includes a packaging structure, which is used to package or encapsulate the goods that have passed the review, and then transfer the packaged goods to the pickup port for shipment, or transfer the packaged goods to a grid cabinet for storage, and the user picks up the goods through the grid cabinet;

[0036] There are one or more packaging structures. When there are multiple packaging structures, different types of goods are packaged or encapsulated through different packaging structures.

[0037] Furthermore, it also includes a packaging structure and a grid cabinet, wherein the packaging structure is used to pack or encapsulate the goods that have passed the review and transfer the packed goods to the grid cabinet for storage, and the user picks up the goods through the grid cabinet;

[0038] There are one or more packaging structures. When there are multiple packaging structures, different types of goods are packaged or encapsulated through different packaging structures.

[0039] Furthermore, the warehouse and / or grid cabinet is provided with a temperature and / or humidity regulating device, and the temperature and / or humidity regulating device is used to regulate the ambient temperature and / or humidity parameters of the aforementioned warehouse and / or grid cabinet.

[0040] Furthermore, the product storage and retrieval robot arm adopts a dual robot arm, including a first robot arm and a second robot arm, the first robot arm and the second robot arm are respectively installed between the shelves through XY axis movable brackets, and the first robot arm and the second robot arm can move on their respective XY axis movable brackets to move to any position of the shelf to load or retrieve goods;

[0041] Before the first robotic arm and the second robotic arm intersect at a certain position, the height positions of the first robotic arm and the second robotic arm are adjusted so that they are staggered in the height direction and / or the horizontal positions of the first robotic arm and the second robotic arm are adjusted so that they are staggered in the horizontal plane.

[0042] Furthermore, the goods access robot arm is provided with a laser, and the laser is arranged corresponding to the depth direction of the pallet;

[0043] When the goods access robot moves in the shelf, the laser measures the current depth of each pallet and feeds back the measured current depth information to the controller;

[0044] The controller obtains the remaining goods data in each inclined aisle based on the current depth of each pallet, the initial depth of the pallet and the size of the goods in each pallet for inventory or replenishment.

[0045] Furthermore, it also includes an unmanned transport handover unit, which transfers the shipped goods to an unmanned vehicle or drone, and the unmanned vehicle or drone delivers the goods.

[0046] The utility model also provides an automatic vending system, comprising the aforementioned fully automatic delivery device;

[0047] The controller of the fully automatic shipping device is connected to the sales ERP system, the sales OMS system, the Internet hospital, the hospital His system and / or the O2O delivery platform system for information interaction.

[0048] Due to the adoption of the above technical solution, the present invention has the following advantages and positive effects compared to the existing technology, as an example: the fully automatic shipping device includes a controller and a warehouse, which is equipped with three-dimensional flat shelves. The flat pallets are non-powered pallets, and a product access robot arm is used to pick up and ship goods from the pallets. At the same time, an AI product photography and verification structure is also provided, which is used to photograph and verify the goods to be shipped. The utility model improves the intelligence and accuracy of goods shipping and enhances the user experience.

[0049] On the other hand, the shelves of the warehouse can also be provided with ramp aisles, hook aisles, track aisles, push plate aisles, spring spiral aisles and / or grid-shaped cargo troughs to accommodate the placement and shipment of different types of goods.

[0050] The device also features an automatic sorting function, enabling automatic sorting, identification, and loading of goods through the coordination of a goods storage and retrieval robot arm, a replenishment and sorting robot arm, a sorting platform, and a goods identification structure. Furthermore, the replenishment platform includes a conveyor belt and a goods position adjustment structure, which adjusts the position of goods on the conveyor belt so that they are within the preset working area of ​​the goods storage and retrieval robot arm, allowing them to be grasped by the robot arm. Specifically, the goods position adjustment structure can be implemented as an L-shaped push plate.

[0051] The device can also be equipped with AI-powered product verification, labeling, packaging, and a grid cabinet, enabling automated product verification, labeling, packaging, and storage. This allows for a complete product process, encompassing sorting, loading, shipping, verification, and packaging.

[0052] On the other hand, the goods storage and retrieval robot arm can also be equipped with a laser to assist in inventory and replenishment of goods.

[0053] On the other hand, the device also includes an unmanned transport handover unit to connect to an unmanned vehicle or drone, and automatically deliver the goods after the unmanned vehicle or drone receives them. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 This is a schematic structural diagram of a fully automatic delivery device provided in an embodiment of the present utility model.

[0055] Figure 2 A schematic structural diagram of a hybrid shelf in a warehouse provided by an embodiment of the present utility model.

[0056] Figure 3 A schematic structural diagram of a cargo storage and retrieval robotic arm provided in an embodiment of the present utility model.

[0057] Figure 4The present invention provides a schematic diagram of the placement of sheet-like aluminum-plastic panels in a grid-shaped cargo trough.

[0058] Figures 5 to 7 This is a schematic diagram of the operation of the sorting robot arm and the product storage and retrieval robot arm cooperating to replenish goods provided by an embodiment of the present utility model.

[0059] Figure 8 A schematic diagram of the layout of the grid cabinet provided in an embodiment of the utility model.

[0060] Figure 9 This is an operational flow chart for goods shipment provided by an embodiment of the present utility model.

[0061] Description of reference numerals:

[0062] Fully automatic shipping device 1, product 2;

[0063] Warehouse 10, three-dimensional flat shelf 11, sloped pallet shelf 12, grid cargo trough shelf 13, grid cargo trough pallet 130;

[0064] Goods access robot arm 20, gripper part 210, suction part 220;

[0065] Human-computer interaction area 30, pickup port 31, grid cabinet 32;

[0066] Sorting area 40, human-computer interaction screen 41, replenishment port 42, sorting robot arm 400, replenishment platform 410, conveyor belt 411, L-shaped push plate 412, sorting platform 420, product identification structure 430. DETAILED DESCRIPTION

[0067] The following is a further detailed description of the fully automatic delivery device and vending system disclosed in the present utility model in conjunction with the accompanying drawings and specific embodiments. It should be noted that the technical features or combinations of technical features described in the following embodiments should not be considered in isolation, and they can be combined with each other to achieve better technical effects. In the drawings of the following embodiments, the same reference numerals appearing in each drawing represent the same features or components, which can be applied to different embodiments. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0068] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the utility model can be implemented. Any structural modification, change in proportional relationship or adjustment of size should fall within the scope of the technical content disclosed in the utility model without affecting the efficacy and purpose that can be achieved by the utility model.

[0069] In the description of the embodiments of this application, " / " represents "or," and "and / or" is used to describe the association relationship between associated objects, indicating that three relationships can exist. For example, "A and / or B" means: A exists alone, B exists alone, and A and B exist at the same time. In the description of the embodiments of this application, "plurality" means two or more.

[0070] See also Figure 1 As shown, a fully automatic shipping device provided by the present invention, the fully automatic shipping device 1 includes a cabinet, a controller (not shown in the figure) and a warehouse 10 are provided in the cabinet, and a pickup port is provided in the corresponding warehouse for users to pick up goods.

[0071] There may be multiple pickup ports, and different pickup ports may be provided for different types of users to pick up their products. As a typical example, for a fully automatic medicine dispensing device in a store, the pickup ports may include at least an in-store pickup port and an out-of-store pickup port. The in-store pickup port is used for store staff / in-store users to pick up their products, and the out-of-store pickup port is provided for customers outside the store to pick up their products outside the store. In this embodiment, the out-of-store pickup port may be provided in the human-computer interaction area 30 facing the outside of the store.

[0072] Warehouse 10 is equipped with three-dimensional flat shelves for storing, shipping, and displaying goods. In this embodiment, the three-dimensional flat shelves are divided into multiple layers of space by horizontal partitions, each layer of which forms a flat pallet for storing goods. The partitions can be made of glass, and the shelf frames are made of aluminum profiles.

[0073] The flat pallet is a non-powered pallet, so a goods storage and retrieval robot arm 20 is provided corresponding to the three-dimensional flat shelf. The goods storage and retrieval robot arm 20 is used to load goods onto or take goods from the flat pallet, and move the taken goods to the pickup port for shipment.

[0074] The fully automatic delivery device 1 also includes a product AI photography and verification structure corresponding to the delivery path, which is used to photograph and verify the goods to be shipped. Among them, for adult products and cosmetics, the product AI photography and verification structure is mainly used to take photos of the shipped goods and save the shipping pictures; for pharmaceutical products, the product AI photography and verification structure is needed to verify the shipped goods and compare them with the goods in the delivery order. If the verification is passed, the goods will be shipped normally through the aforementioned pickup port. If the verification is not passed, the goods will be transferred to the designated recycling area for recovery of the wrong goods.

[0075] Taking medicines as an example, when specifically set up, the goods AI review structure can adopt an AI visual recognition structure, which may include a camera and an image recognition system. The camera is used to capture image data of the shipped medicines and transmit the image data to the aforementioned image recognition system. The image recognition system is used to identify the medicines in the aforementioned image data, and compare the identified medicine information with the medicine information that needs to be shipped to obtain a review result, and send the review result to the controller. The aforementioned controller receives the review result, and when the review is passed, controls the goods access robot 20 to move the medicines normally to the preset pickup port; when the review fails, controls the goods access robot 20 to place the medicines in the recycling area. Optionally, the AI ​​visual recognition mechanism can also be provided with a light source device, as an example and not a limitation, such as using an LED lamp, which can start the light source device to supplement the light for the goods when the light is insufficient.

[0076] According to the shipping path, the goods AI shooting and verification structure can be set on the goods storage and retrieval robot arm 20 and / or at the pickup port. Therefore, in one implementation of this embodiment, the goods AI verification structure can be set on the goods storage and retrieval robot arm, and the goods to be shipped are verified by the goods AI verification structure on the goods storage and retrieval robot arm. After the verification is passed, the goods are shipped normally, and the goods that fail the verification are transferred to the recycling area. In another implementation of this embodiment, the goods AI verification structure is set corresponding to the pickup port, and is used to verify the goods in the pickup port. After the verification is passed, the goods are shipped normally, and the goods that fail the verification are transferred to the recycling area.

[0077] The product access robot arm 20 can be an XY-axis robot arm with a cargo bucket, or a multi-axis robot arm with a gripping mechanism. In this embodiment, a multi-axis robot arm with a gripping mechanism is preferred.

[0078] In this embodiment, the cargo racks in the cargo warehouse may also be provided with other types of cargo lanes, such as ramp cargo lanes, hook cargo lanes, crawler cargo lanes, push plate cargo lanes, spring spiral cargo lanes and / or grid cargo troughs. Figure 2 As shown, as an example and not a limitation, a three-dimensional plane shelf 11, a sloped pallet shelf 12 and a grid cargo trough shelf 13 are arranged side by side in a warehouse 10, wherein the sloped pallet shelf 12 includes multiple layers of sloped pallets, and the grid cargo trough shelf 13 includes multiple layers of grid cargo trough pallets 130.

[0079] The inclined cargo pallet can be a powered cargo pallet or a non-powered cargo pallet, both of which belong to the existing technology and will not be described in detail here.

[0080] The bottom plate of the lattice cargo trough pallet 130 can be a horizontal glass partition, and a plurality of lattice cargo troughs are formed on the bottom plate by horizontal and / or vertical partitions. Figure 4The lattice cargo tray 130 is a non-powered cargo tray, and the cargo access robot 20 takes cargo from the cargo slots of the lattice cargo tray 130 .

[0081] As an example of a typical method, when the grid cargo trough cargo pallet is used as a sheet aluminum-plastic plate medicine pallet, the sheet aluminum-plastic plate medicines are stacked and stored in the grid cargo trough. At this time, the goods storage and retrieval robot 20 can be used to pick up goods from the grid medicine trough. After the upper sheet aluminum-plastic plate medicines are taken out, the lower sheet aluminum-plastic plate medicines are exposed for the next pick-up.

[0082] It should be noted that the ramp pallet can also be used as a sheet aluminum-plastic panel medicine tray for vertical placement of sheet aluminum-plastic panel medicine. In this case, the sheet aluminum-plastic panel medicine is placed in sequence on the ramp aisle with the front and back sides connected. After the sheet aluminum-plastic panel medicine in front is shipped from the shipping position, the sheet aluminum-plastic panel medicine in the back slides down to the shipping position under the action of gravity.

[0083] The product storage and retrieval robot arm 20 may include a gripping structure for grabbing the product, and a spatial displacement drive structure is provided corresponding to the gripping structure of the robot arm to realize the spatial position movement of the gripping structure. The gripping structure can move to the target cargo tray under the control of the controller and grab the product on the target cargo tray. In this embodiment, the gripping structure may specifically include an adsorption portion and / or a clamping portion. Preferably, a clamping portion 210 and an adsorption portion 220 are provided at the same time, which can be used for loading and unloading of products with different characteristics, respectively. See Figure 3 shown.

[0084] The clamping portion 210 clamps the goods from the inclined cargo aisle through the clamping jaws. The clamping jaw can be installed on the main body of the robot arm through a first telescopic component (such as an electric push rod or a pneumatic push rod), and the telescopic component can move in the depth direction of the shelf under the control of the controller. The clamping jaw is connected to the clamping drive unit, and the clamping drive unit is connected to the controller. After the controller controls the clamping jaw to move to the pickup position of the target inclined cargo aisle, it controls the clamping drive unit to start, and the clamping jaw opens and closes to clamp the goods on the pickup position. The clamping drive unit drives the clamping jaw to open and close in a manner that can be electric or pneumatic. Correspondingly, the clamping jaw can be an electric clamping jaw or a pneumatic clamping jaw, which is not limited here. The structure and control method of the electric clamping jaw and the pneumatic clamping jaw belong to the prior art and will not be described in detail here.

[0085] It should be noted that, in this embodiment, in order to adapt to flat pallets, the gripper part of the goods storage and retrieval robot arm preferably adopts a straight horizontal gripper. After the horizontal gripper clamps the goods on the replenishment table from both sides of the goods, and then carries the goods to the top of the corresponding flat pallet, the horizontal gripper is controlled to release the grip to place the goods on the flat pallet.

[0086] Specifically, the horizontal clamp may include a first clamp and a second clamp set in the horizontal direction, and the first clamp and the second clamp are set in parallel. The first clamp and the second clamp can be installed on the main shell of the gripping part through a cylinder or an electric push rod respectively. Under the drive of the cylinder or the electric push rod, the first clamp and the second clamp can be relatively close to or away from each other, thereby realizing the opening and closing of the clamp. Optionally, in order to facilitate the parallel clamps to extend into the shelf, the front end of the clamp can be set as a gradient section with a gradually smaller cross-section. Furthermore, in order to cooperate with the clamping of objects with curved surfaces, the inner surface of the clamp can also be set as a curved surface.

[0087] The suction unit 220 uses a suction nozzle to pick up items from the ramped aisle. These nozzles are particularly suitable for grabbing sheet-like items, such as aluminum-plastic composite panels. Specifically, the suction unit includes one or more suction nozzles, which are mounted on the main body of the robotic arm via a second telescopic assembly (such as an electric or pneumatic actuator). The telescopic assembly is movable in the depth direction of the shelf under the control of a controller. The suction nozzles are connected to a suction drive unit, which is connected to the controller. The controller controls the suction nozzles to move to a designated location on the target pallet and activates the suction drive unit, which generates suction force to pick up the items at the designated location, thereby grabbing the items. The suction drive unit may include an air pump and a ventilation line. The suction nozzles are vacuum nozzles connected to the air pump via a ventilation line. The air pump is connected to and controlled by the controller, providing suction power for the suction nozzles. When items need to be grabbed, the controller activates the air pump, which draws air from the suction nozzles through the ventilation line (e.g., a hollow tube), creating negative pressure and generating suction force.

[0088] The spatial displacement drive structure of the goods access robot 20 preferably includes an X-axis drive unit, a Y-axis drive unit, a Z-axis drive unit and a rotation drive unit, and the X-axis drive unit, Y-axis drive unit, Z-axis drive unit and rotation drive unit are all connected to the controller and receive control from the controller. When it is necessary to grab goods, according to the position of the goods to be grabbed, the controller can control the X-axis drive unit to move to adjust the horizontal lateral position of the grabbing structure, can control the Z-axis drive unit to move to adjust the horizontal longitudinal position of the grabbing structure, can control the Y-axis drive unit to move to adjust the vertical height position of the grabbing structure, so that the grabbing structure can be lifted and lowered to any layer of the shelf; and control the rotation drive unit to move so that the grabbing structure rotates along the Y-axis, so that the grabbing structure can perform rotational motion on any layer of the aforementioned shelf. The drive control method of the three-axis movement operation and rotation operation of the grabbing structure driven by the spatial displacement drive structure can refer to the existing multi-degree-of-freedom robot arm and will not be repeated here.

[0089] To facilitate the robotic arm's rapid positioning of goods, each aisle of the pallet can also be equipped with a QR code or barcode for identification and positioning by the robotic arm. In this case, the robotic arm is equipped with a barcode scanner to identify the QR code or barcode. The QR code or barcode encodes the corresponding aisle's location information—such as the aisle's storage area, shelf number, pallet number, and aisle row and column position number. The aforementioned aisle positioning technology for goods is currently available and will not be further elaborated here.

[0090] Considering the need for replenishment, the fully automatic medicine dispensing device may further include a sorting area 40 for automatic replenishment of the warehouse. Figure 1 As shown, a sorting robot arm 400 is provided in the sorting area 40 for automatic sorting of goods.

[0091] In this embodiment, the sorting area 40 can be set at the rear of the warehouse, where a human-computer interaction screen 41 (as a human-computer interaction interface) and a replenishment port 42 can be set. Figure 5 As shown, a replenishment platform 410 is provided in the sorting area 40 corresponding to the product storage and retrieval robot arm 20. A sorting robot arm 400 and a sorting platform 420 are provided corresponding to the replenishment platform 410. A product identification structure 430 is also provided corresponding to the sorting platform 420. The product identification structure 430 is used to identify products on the sorting platform. As needed, there may be one or more product identification structures 430. These structures 430 may be installed on the replenishment platform 410, the sorting platform 420, the product storage and retrieval robot arm 20, or above the sorting platform 420 / replenishment platform 410 via a mounting bracket.

[0092] When replenishment is needed, the replenishment operator's instructions are received via the human-machine interactive screen 41 in the sorting area of ​​the device, initiating the replenishment operation. At this point, the replenishment port 42 opens, and the replenishment operator places one or more items 2 to be replenished into the replenishment port 42. The replenishment port 42 is used by the replenishment operator or replenishment equipment to place the items 2 to be replenished. After being placed through the replenishment port, the items 2 are placed onto the sorting table 420.

[0093] The sorting robot arm 400 is used to grab the goods in the sorting table 420 and place the goods on the replenishment table 410 when the goods pass the identification.

[0094] The product access robot arm 20 is used to grab the aforementioned product 2 on the replenishment platform 410, and move the grabbed product 2 to the corresponding flat pallet in the shelf according to the product identification result to complete the replenishment.

[0095] The product identification structure can identify products in one of the following ways: First, when the products are on the sorting platform, the product identification structure 430 on the sorting platform identifies the products. Second, a sorting robot grabs the products on the sorting platform and moves them to the product identification structure 430 for identification. In this case, the product identification structure 430 does not need to be located on the sorting platform.

[0096] In this embodiment, the product identification structure may employ an AI visual recognition structure, which captures product image data and performs image recognition on the product packaging to identify the product. The AI ​​visual recognition structure may be provided corresponding to the loading surface of the sorting position, and may be one or more. Specifically, the AI ​​visual recognition structure may include a camera and an image recognition system. The camera is configured to capture image data of the product in the sorting position and transmit the image data to the image recognition system. The image recognition system is configured to identify product information of the product in the image data.

[0097] Alternatively, the product identification structure may employ a barcode scanner to identify the product by scanning a code on the product packaging. Specifically, the barcode scanner may be a code scanner for reading a barcode or QR code on the product, or an RFID tag reader / writer for reading an RFID tag on the product. The aforementioned product information identification technologies are all prior art and will not be further described here.

[0098] In this embodiment, the fully automatic delivery device may further include a machine vision calibration plate, on which a calibration pattern is provided. The machine vision calibration plate is provided corresponding to the robotic arm and is used for hand-eye calibration of the robotic arm.

[0099] In specific implementation, the machine vision calibration plate can adopt a checkerboard calibration plate (the calibration pattern is usually composed of black and white square grids, the pattern is regular and easy to identify), a circular array calibration plate (the calibration pattern is usually composed of a series of circles of the same size, and the center position of the circle is used as a feature point), a dot matrix calibration plate (the calibration pattern is usually composed of regularly arranged small dots, which can be black and white dots or colored dots, and is suitable for high-precision visual calibration), etc., without limitation here.

[0100] Optionally, the machine vision calibration plate may further include a light source to form a calibration plate with a light source.

[0101] In this embodiment, the replenishment platform 410 may further include a conveyor belt 411 to form a movable product placement area, and a product position adjustment structure may also be provided corresponding to the conveyor belt 411.

[0102] After the sorting robot 400 places the grabbed item at the correct angle on the conveyor belt 411 of the replenishment platform, the conveyor belt 411 starts to move the item to the product positioning mechanism. The product positioning mechanism is used to adjust the position of the item 2 on the conveyor belt 411 so that the item 2 is within the preset working area of ​​the product access robot 20, allowing the horizontal gripper of the product access robot 20 to extend and grab the item 2 on the replenishment platform.

[0103] See also Figure 5 As shown, the goods position adjustment structure in this embodiment includes an L-shaped push plate 412 and a push plate driving assembly arranged corresponding to the conveyor belt 411, and the push plate driving assembly is used to drive the L-shaped push plate 412 to translate along a specified path above the conveyor belt.

[0104] Specifically, the L-shaped push plate 412 has a first position and a second position above the conveyor belt.

[0105] In the initial state, the L-shaped push plate is located at the first position, see Figure 5 shown.

[0106] After the sorting robot 400 grabs the product 2 to be replenished from the sorting table, it places it on the conveyor belt 411. Then, the conveyor belt 411 is started to move the product 2 to the L-shaped push plate 412, and the conveyor belt stops. Then, the push plate drive assembly is started to drive the L-shaped push plate 412 to move horizontally from the first position to the second position along the specified path. During the translation process, the L-shaped push plate 412 pushes the products in the conveyor belt to move on the conveyor belt. Figure 6 The second position corresponds to the preset working area of ​​the access robot. Thus, after the goods are pushed to the preset working area of ​​the access robot by the L-shaped push plate 412, the controller controls the push plate drive assembly to start and drive the L-shaped push plate 412 from the second position back to the first position to reset. Figure 7 As shown, at this time, the sorting robot arm 400 continues to grab the next product 2 from the sorting platform 420 for identification and loading.

[0107] In this embodiment, the sorting platform preferably adopts a lifting sorting platform, and the corresponding sorting platform is provided with a lifting drive component for driving the sorting platform to move up and down along a specified path. The sorting platform has a first height position and a second height position above the height direction, the first height position matches the replenishment port position, and the second height position matches the replenishment platform position.

[0108] When the sorting platform is at the first height, it can receive items placed by replenishment personnel or equipment. Once the items are placed, the lift drive assembly activates to drive the sorting platform up or down along a specified path from the first height to the second height, allowing the sorting robot to grab the items from the sorting platform.

[0109] In this embodiment, the goods can be laid out in a single layer or multiple layers or stacked in disorder in the sorting table, for example Figure 5 The goods are randomly stacked in disorder.

[0110] The sorting robot arm grabs the goods through the grabbing structure, rotates the grabbing structure to adjust the orientation of the grabbed goods, and then places the goods on the replenishment table at the correct placement angle.

[0111] In this embodiment, the device may further include a labeling structure and / or a packaging structure.

[0112] The labeling structure is used to print product-related information to generate product labels, and to attach the product labels to corresponding products that have passed the review.

[0113] Specifically, the labeling structure may adopt a robotic arm, and the corresponding robotic arm is provided with a label printer for printing and pasting labels when goods need to be labeled.

[0114] The label printer is used to print and output product labels. Specifically, a thermal printer can be used. For example, for pharmaceuticals, drug-related information (such as prescription information) can be printed onto a self-adhesive label to form a prescription label, which can then be output. Of course, the label printer is not limited to the aforementioned thermal printer. In this embodiment, an industrial-grade printer can also be used. In this case, the label storage capacity is increased, reducing maintenance frequency.

[0115] The robotic arm is used to transfer and stack labels and goods. A gripping structure is provided on the robotic arm to grasp the labels or goods. The gripping structure can be a suction nozzle and / or a robotic arm. Taking the gripping structure as an example, the robotic arm mainly includes a rotating base, a multi-axis robotic arm mounted on the rotating base, a suction nozzle provided on the multi-axis robotic arm, and a pneumatic unit connected to the suction nozzle. The pneumatic unit can include a micro air pump, a solenoid valve, a suction nozzle, and related mechanisms, etc., for creating a negative pressure in the suction nozzle to absorb the labels and medicine boxes. All of these are prior art and will not be described in detail here.

[0116] The packaging structure is used to package or encapsulate the goods that have passed the review, and then transfer the packaged goods to the pickup port for shipment, or transfer the packaged goods to the grid cabinet for storage, and the user picks up the goods through the grid cabinet. Figure 8 As shown, a grid cabinet 32 ​​may be provided in the human-machine interaction area 30 .

[0117] In this embodiment, the packaging structure may be one or more. When there are multiple packaging structures, different types of goods are packaged or encapsulated through different packaging structures.

[0118] As an example of a typical method, taking medicines as an example, two packaging structures can be set up: a first packaging structure and a second packaging structure. The first packaging structure is set in the tablet medicine packaging area, and the second packaging structure is set in the box medicine packaging area.

[0119] The first packaging structure is used to package or seal (such as plastic sealing) the aluminum-plastic plate medicines for shipment. The packaged aluminum-plastic plate medicines are transported to the review and labeling area.

[0120] The second packaging structure in the boxed medicine packaging area can be used to package all medications in an order. In this case, after being processed by the first packaging structure, the packaged or sealed aluminum-plastic plate medications are transferred to the review and labeling area for review and labeling (with the application of a medical order label). Once review and labeling are complete, they are transferred to the second packaging structure for packaging along with other reviewed and labeled medications. The packaged medication packages are then transferred to a pickup port or a lattice cabinet. Alternatively, the second packaging structure is used to package medications other than aluminum-plastic plate medications in an order and transfer the packaged medications to a pickup port or a lattice cabinet. In other words, if an order does not include aluminum-plastic plate medications, the medications are transferred directly to the review and labeling area for review and labeling (with the application of a medical order label) without passing through the first packaging structure. Once review and labeling are complete, they are transferred to the second packaging structure for packaging. The packaged medication packages are then transferred to a pickup port or a lattice cabinet.

[0121] For drugs that fail the review, no labeling operation is required and they can be transferred to the designated recycling area for recycling.

[0122] It should be noted that in this embodiment, some goods that do not need to be labeled can be moved directly to the packaging structure for packaging after passing the review. At this time, after the reviewed goods are packaged by the packaging structure, the packaged goods can be transferred to the grid cabinet for storage, so that users can pick up the goods through the grid cabinet. Figure 9 At this time, the packaging structure can also be set to one or more as needed. When there are multiple packaging structures, different types of goods can be packaged or encapsulated through different packaging structures. The packaging process refers to the above embodiment and will not be repeated here.

[0123] Taking into account the storage of goods, the fully automatic medicine dispensing device may also include a device for adjusting the temperature and humidity inside the device, and a temperature and / or humidity regulating device is provided in the warehouse and / or grid cabinet, and the temperature and / or humidity regulating device is used to regulate the ambient temperature and / or humidity parameters of the aforementioned warehouse and / or grid cabinet. Taking a temperature and humidity regulating device that can achieve temperature and humidity regulation as an example, the temperature and humidity regulating device may include a heating structure, a cooling structure, a dehumidification structure, and a humidification structure provided in the corresponding warehouse or part of the warehouse, or grid cabinet. The heating structure, cooling structure, dehumidification structure, and humidification structure are respectively connected to the controller through a heating drive circuit, a cooling drive circuit, a dehumidification drive circuit, and a humidification drive circuit, and the controller controls the opening and closing of the heating structure, the cooling structure, the dehumidification structure, and the humidification structure through each drive circuit to adjust the temperature and / or humidity of the corresponding area.

[0124] The heating structure can adopt one or more of a resistance heater, an electromagnetic heater and an infrared heater. In this embodiment, a resistance heater is preferably adopted, and common ones include resistance wire heating, ceramic heater, resistance coil heating, quartz tube heating, etc. The cooling structure includes but is not limited to a compression refrigerator and an absorption refrigerator, and a compression refrigerator is preferably adopted. It should be noted that the cooling process of the refrigeration compressor also has a partial dehumidification function. The dehumidification structure includes but is not limited to an electronic dehumidifier and / or an adsorption dehumidifier, and the adsorption dehumidifier can be made of materials such as bamboo charcoal and silica gel balls. The humidification structure includes but is not limited to an ultrasonic humidifier and / or an electric heating humidifier.

[0125] In another embodiment of this embodiment, the product storage and retrieval robot 20 may adopt a dual-robot structure. In this case, the product storage and retrieval robot 20 may include a first robot arm and a second robot arm, each of which is mounted between shelves via an XY-axis movable bracket. The first robot arm and the second robot arm can move on their respective XY-axis movable brackets to any position on the shelf to load or remove goods.

[0126] Taking into account that multiple robotic arms between shelves may intersect when loading or removing goods, in order to avoid collision between the robotic arms, the positions of the first robotic arm and the second robotic arm can be scheduled. At this time, before the first robotic arm and the second robotic arm intersect at a certain position, the controller can adjust the height position of the first robotic arm and the second robotic arm so that the two are staggered in the height direction and / or adjust the horizontal plane position of the first robotic arm and the second robotic arm so that the two are staggered in the horizontal plane.

[0127] In this embodiment, a pallet storage component may also be provided. In this case, the product access robot arm 20 may be provided with a laser, and the laser is provided corresponding to the depth direction of the pallet.

[0128] As the product access robot moves within the shelves, the laser measures the current depth of each pallet and feeds this information back to the controller. The controller uses this information, along with the initial depth and the size of the items on each pallet, to obtain data on the remaining items in each aisle for inventory management or replenishment.

[0129] On the one hand, the controller can calculate the aisle occupancy length of the remaining goods in the aisle based on the current aisle depth of the aisle in the cargo pallet detected by the cargo access robot arm, combined with the initial depth of each aisle (that is, the original depth when no goods are placed), and then calculate the number of goods remaining in the current aisle based on the aisle occupancy length and the placement information of the goods in the aisle, and inventory the remaining goods information in the device based on the number of goods.

[0130] Alternatively, the controller can determine the quantity of goods that can be replenished in each aisle based on the current aisle depth of each aisle in the pallet and the size of the goods in each aisle, and then generate a product replenishment list based on the quantity of goods. The product replenishment list can be sent to a user terminal where a replenishment staff is located for the replenishment staff to replenish the goods.

[0131] In another implementation of this embodiment, the device may also include an unmanned transport handover unit, through which the goods or goods packages shipped by the medicine delivery department are transferred to an unmanned vehicle or drone for delivery.

[0132] For example, in an unmanned transport transfer unit using a conveyor belt, the conveyor belt's input port connects to a pickup port and a grid cabinet, while the conveyor belt's output port can connect to unmanned transport equipment, such as an unmanned vehicle or drone. The pickup port and grid cabinet can be equipped with a package-moving mechanism, such as a push plate or track. When the unmanned transport equipment is parked, the cargo box is controlled to dock with the conveyor belt's output port. The push plate or track inside the cabinet removes the package from the cabinet and places it on the conveyor belt, which then transfers the incoming package to the unmanned transport equipment's cargo box.

[0133] After loading, the unmanned transport device loads the cargo box and delivers the goods to a designated location, which can be set by the system or the user. The control structure, cargo loading mechanism, and cargo delivery process of the unmanned vehicle or drone can be referenced by various existing delivery unmanned vehicles and drones, and will not be further described here.

[0134] Another embodiment of the present invention further provides an automatic vending system.

[0135] The automatic vending system includes the aforementioned fully automatic delivery device, and the controller of the fully automatic delivery device is communicated with the vending ERP system, the vending OMS system, the Internet hospital, the hospital His system and / or the O2O (full name Online To Offline) delivery platform system for information exchange.

[0136] Specifically, the fully automatic medicine dispensing device can obtain product order information and / or electronic prescriptions from the pharmacy ERP system, pharmacy OMS system, Internet hospital, hospital His system and / or O2O delivery platform system, and send the device's medicine purchase and collection related information to the aforementioned pharmacy ERP system, pharmacy OMS system, Internet hospital, hospital His system and / or O2O delivery platform system.

[0137] Preferably, the system also includes an unmanned vehicle or drone, which is used to receive the goods or goods packages shipped by the aforementioned fully automatic medicine dispensing device and deliver them.

[0138] For other features, please refer to the previous embodiment and will not be described in detail here.

[0139] In the above description, the components may be selectively and operatively combined in any number within the scope of the intended protection of the present disclosure. In addition, terms such as "include," "encompass," and "have" should be interpreted as inclusive or open-ended rather than exclusive or closed by default, unless expressly defined to the contrary. All technical, technological, or other terms have the meanings understood by those skilled in the art, unless they are defined to the contrary. Common terms found in dictionaries should not be interpreted in an overly idealized or unrealistic manner in the context of the relevant technical documentation, unless expressly defined to that extent by the present disclosure.

[0140] Although exemplary aspects of the present disclosure have been described for illustrative purposes, those skilled in the art will appreciate that the foregoing description is merely a description of preferred embodiments of the present invention and does not limit the scope of the present invention. The scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order described or discussed. Any changes or modifications made by those skilled in the art based on the foregoing disclosure are within the scope of the claims.

Claims

1. A fully automatic delivery device, comprising a controller and a cargo compartment, wherein a corresponding cargo compartment is provided with a cargo pickup port, characterized in that: The warehouse is provided with three-dimensional flat shelves, which are divided into multiple layers of space by multiple layers of horizontal partitions. Each layer of partitions forms a flat pallet for storing goods. The flat pallet is a non-powered pallet. A goods storage and retrieval robot arm is provided corresponding to the three-dimensional flat shelf, and the goods storage and retrieval robot arm is used to load goods onto or take goods from the flat pallet, and move the goods to the pickup port for shipment; It also includes a product AI photography and verification structure, which is used to photograph and verify the goods to be shipped; It also includes a replenishment platform arranged corresponding to the goods storage and retrieval robot arm, and a sorting robot arm and a sorting platform arranged corresponding to the replenishment platform; the sorting robot arm is used to grab the goods in the sorting platform, and place the goods on the replenishment platform when the goods are identified; the goods storage and retrieval robot arm is used to grab the aforementioned goods on the replenishment platform, and move the grabbed goods to the corresponding flat pallet in the shelf according to the goods identification results to complete the replenishment.

2. The fully automatic delivery device according to claim 1, characterized in that: It also includes a recycling area, where goods that have passed the review are shipped through the aforementioned pickup port, and goods that have failed the review are transported to the aforementioned recycling area.

3. The fully automatic delivery device according to claim 1, characterized in that: The shelves of the cargo warehouse are further provided with ramp cargo lanes, hook cargo lanes, crawler cargo lanes, push plate cargo lanes, spring spiral cargo lanes and / or grid cargo troughs.

4. The fully automatic delivery device according to claim 1, characterized in that: The corresponding sorting platform is also provided with a product identification structure, which is used to identify the products in the sorting platform.

5. The fully automatic delivery device according to claim 4, characterized in that: When the goods are located in the sorting platform, the goods identification structure identifies the goods in the sorting platform; Alternatively, a sorting robot arm grabs the goods on the sorting platform and moves the goods to the goods identification structure for goods identification.

6. The fully automatic delivery device according to claim 4, characterized in that: The product identification structure is an AI visual recognition structure, which identifies the product by performing image recognition on the product packaging through the AI ​​visual recognition structure; and / or, the product identification structure can scan codes to identify the product by scanning the code on the product packaging.

7. The fully automatic delivery device according to claim 4, characterized in that: The replenishment platform includes a conveyor belt to form a movable product placement area, and a product position adjustment structure is provided corresponding to the conveyor belt; After the sorting robot arm places the grabbed goods on the conveyor belt of the replenishment platform at the correct placement angle, the conveyor belt starts to move the goods to the goods position adjustment structure; The product position adjustment structure is used to adjust the position of the product in the conveyor belt so that the product is located in the preset working area of ​​the product access robot arm so that the product can be grabbed by the product access robot arm.

8. The fully automatic delivery device according to claim 7, characterized in that: The product position adjustment structure includes an L-shaped push plate and a push plate drive assembly provided corresponding to the conveyor belt, wherein the push plate drive assembly is used to drive the L-shaped push plate to translate along a specified path above the conveyor belt, and the L-shaped push plate has a first position and a second position above the conveyor belt; In the initial state, the L-shaped push plate is located at the first position; After the sorting robot arm places the goods on the conveyor belt, the conveyor belt is started to move the goods to the L-shaped push plate, and then the conveyor belt stops working; the push plate driving component is started to drive the L-shaped push plate to move from the aforementioned first position to the aforementioned second position along the specified path, and the L-shaped push plate pushes the goods in the conveyor belt to move on the conveyor belt during the translation process; after the goods are pushed to the preset working area of ​​the goods storage and retrieval robot arm, the push plate driving component is started to drive the L-shaped push plate from the aforementioned second position back to the aforementioned first position.

9. The fully automatic delivery device according to claim 7, characterized in that: The corresponding sorting platform is equipped with a replenishment port for replenishment personnel or replenishment equipment to put the goods that need to be replenished; The sorting platform is a lifting sorting platform, and a lifting drive component is provided on the corresponding sorting platform for driving the sorting platform to move up and down along a specified path. The sorting platform has a first height position and a second height position in the height direction. The first height position matches the position of the replenishment port, and the second height position matches the position of the replenishment platform. When the sorting platform is at a first height position, it can receive goods put in by replenishment personnel or replenishment equipment; after the goods are put in, the lifting drive component is activated to drive the sorting platform to rise or fall from the aforementioned first height position along a specified path to the aforementioned second height position, so that the sorting robot arm can grab the goods in the sorting platform.

10. The fully automatic delivery device according to claim 4, characterized in that: The goods are laid out in a single layer or multiple layers or stacked in disorder on the sorting platform; The sorting robot arm grabs the goods through the grabbing structure, rotates the grabbing structure to adjust the orientation of the grabbed goods, and places the goods on the replenishment table at the correct placement angle; The goods storage and retrieval robot arm includes a flat horizontal clamp, which clamps the goods on the replenishment table from both sides of the goods, carries the goods over the corresponding flat pallet, and then controls the horizontal clamp to release the clamp to place the goods on the flat pallet.

11. The fully automatic delivery device according to any one of claims 1 to 10, characterized in that: The goods AI review structure is set on the goods access robot arm, and the goods to be shipped are reviewed by the goods AI review structure on the goods access robot arm. After the review is passed, the goods are shipped normally, and the goods that fail the review are transferred to the recycling area; And / or, the goods AI review structure is set corresponding to the pickup port, which is used to review the goods in the pickup port. After the review is passed, the goods are shipped normally, and the goods that fail the review are transferred to the recycling area.

12. The fully automatic delivery device according to claim 11, characterized in that: It also includes a labeling structure, which is used to print product-related information to generate product labels, and affix the product labels to corresponding products that have passed the review.

13. The fully automatic delivery device according to claim 12, characterized in that: It also includes a packaging structure, which is used to package or encapsulate the goods that have passed the review, and then transfer the packaged goods to the pickup port for shipment, or transfer the packaged goods to a grid cabinet for storage, and users can pick up the goods through the grid cabinet; There are one or more packaging structures. When there are multiple packaging structures, different types of goods are packaged or encapsulated through different packaging structures.

14. The fully automatic delivery device according to claim 11, characterized in that: It also includes a packaging structure and a grid cabinet. The packaging structure is used to pack or encapsulate the goods that have passed the review and transfer the packed goods to the grid cabinet for storage. Users can pick up the goods through the grid cabinet; There are one or more packaging structures. When there are multiple packaging structures, different types of goods are packaged or encapsulated through different packaging structures.

15. The fully automatic delivery device according to any one of claims 1 to 14, characterized in that: The warehouse and / or grid cabinet is provided with a temperature and / or humidity regulating device, and the temperature and / or humidity regulating device is used to regulate the ambient temperature and / or humidity parameters of the warehouse and / or grid cabinet.

16. The fully automatic delivery device according to any one of claims 1 to 14, characterized in that: The product storage and retrieval robot arm adopts a dual robot arm, including a first robot arm and a second robot arm, the first robot arm and the second robot arm are respectively installed between the shelves through XY axis movable brackets, and the first robot arm and the second robot arm can move on their respective XY axis movable brackets to move to any position on the shelf to load or retrieve goods; Before the first robotic arm and the second robotic arm intersect at a certain position, the height positions of the first robotic arm and the second robotic arm are adjusted so that they are staggered in the height direction, or the horizontal positions of the first robotic arm and the second robotic arm are adjusted so that they are staggered in the horizontal plane.

17. The fully automatic delivery device according to any one of claims 1 to 14, characterized in that: The goods access robot arm is provided with a laser, and the laser is arranged corresponding to the depth direction of the pallet; When the goods access robot moves in the shelf, the laser measures the current depth of each pallet and feeds back the measured current depth information to the controller; The controller obtains the remaining goods data in each inclined aisle based on the current depth of each pallet, the initial depth of the pallet and the size of the goods in each pallet for inventory or replenishment.

18. The fully automatic delivery device according to any one of claims 1 to 14, characterized in that: It also includes an unmanned transport handover unit, through which the shipped goods are transferred to an unmanned vehicle or drone, and the goods are delivered by the unmanned vehicle or drone.

19. An automatic vending system, characterized in that: A fully automatic shipping device comprising any one of claims 1 to 18; The controller of the fully automatic shipping device is connected to the sales ERP system, the sales OMS system, the Internet hospital, the hospital His system and / or the O2O delivery platform system for information interaction.

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