A multi-dimensional motion throwing and detecting device for recycling

Abstract

The utility model relates to recycling robot technical field, concretely discloses a kind of multi-dimensional motion delivery and detection device for recycling, including support platform, weighing sensor, delivery cabin and Z-axis guide shaft, the weighing sensor is set on Y-axis guide mechanism, the support platform is placed on the weighing sensor, the support platform bottom is provided with multiple Z-axis guide shaft, the Z-axis guide shaft is slidably provided with slider, the slider is fixed on delivery cabin, the bottom of the delivery cabin is provided with flap mechanism for the opening and closing of delivery cabin bottom opening.The utility model has the advantages of solving the problem that the goods received by the recycling intelligent body under non-standard application conditions are stuck in the motion mechanism, there is interference, and the driving stress imbalance is blocked, reducing unnecessary manual intervention, improving the practicability of the device.

Description

Technical Field

[0001] This utility model relates to the field of recycling robot technology, and in particular to a multi-dimensional motion delivery and detection device for recycling. Background Technology

[0002] Promoting the recycling and utilization of renewable resources, strengthening the classification and treatment of waste resources, and protecting our living environment have always been the responsibilities of everyone. Renewable resource recycling is of great significance for promoting sustainable development, protecting the environment, and conserving resources.

[0003] Currently, there are ATM recycling stations used for recycling renewable resources. As automated storage and retrieval systems, these stations use multi-dimensional motion mechanisms to sort and transport the goods deposited by residents to different storage areas via a conveyor system. Among them, Chinese patent application number 2019216656729 discloses a double-opening plate-type delivery box and receiving cabinet, which is used in ATM recycling stations as a delivery mechanism and storage space for renewable resources. During unloading, two flip plates are used to open the opening at the bottom of the delivery box. Renewable resources fall from the opening under the action of gravity, achieving the purpose of unloading. However, waste cardboard boxes are non-standard goods, and residents may bundle, exceed the size limit, or force them in when depositing them. Moreover, due to structural limitations and uneven driving force, the opening may not fully open and close when the two flip plates are flipped. This can cause jamming, blockage, and interference between the delivery box and the storage area that has reached a certain height, resulting in frequent malfunctions of the recycling cabinet. Thus, after the opening is opened, unloading cannot be completed under the action of gravity. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multi-dimensional motion delivery and detection device for recycling.

[0005] The purpose of this utility model is achieved through the following technical solution: a multi-dimensional motion delivery and detection device for recycling, comprising a support platform, a weighing sensor, a delivery chamber, and a Z-axis guide shaft. The weighing sensor is mounted on a Y-axis guide mechanism, and the support platform is placed on the weighing sensor. Multiple Z-axis guide shafts are provided at the bottom of the support platform, and sliders are slidably mounted on the Z-axis guide shafts. The sliders are fixed to the delivery chamber. A flap mechanism is provided at the bottom of the delivery chamber for opening and closing the bottom opening of the delivery chamber. A Z-axis drive mechanism is provided at the bottom of the support platform and connected to the delivery chamber for driving the delivery chamber to move along the Z-axis.

[0006] Specifically, the flip-up mechanism includes a roller shutter and a drive mechanism. Flip-up guide grooves are provided on both sides of the inside of the delivery cabin. Rollers are provided on both sides of the roller shutter. The two roller shutters are symmetrically arranged at the bottom of the delivery cabin, and the rollers on both sides of the roller shutter are slidably connected to the flip-up guide grooves on both sides of the inside of the delivery cabin. The drive mechanism is provided on the delivery cabin for driving the roller shutter to move along the flip-up guide groove.

[0007] Specifically, the drive mechanism includes a drive motor, a T-shaped steering gear, and a flapping belt. The drive motor is fixedly mounted on the top of the delivery cabin. The output end of the drive motor is connected to the input end of the T-shaped steering gear. Both output ends of the T-shaped steering gear are equipped with active synchronous pulleys. Synchronous pulley shafts are rotatably mounted at both ends of the top of the delivery cabin. Each synchronous pulley shaft is equipped with a drive synchronous pulley. The two active synchronous pulleys are respectively connected to the drive synchronous pulleys via a drive synchronous belt. Flipping synchronous belt pulleys are mounted at both ends of the synchronous pulley shafts. Synchronous idler pulleys are mounted on both sides of the bottom of the delivery cabin. The flapping synchronous belt pulleys and the synchronous idler pulleys are connected via a flapping belt. One end of the roller shutter is connected to the flapping belt.

[0008] Specifically, the flap guide groove is L-shaped.

[0009] Specifically, the surface of the roller shutter panel is provided with an elastic membrane.

[0010] Specifically, the Z-axis drive mechanism includes a Z-axis drive motor located at the bottom of the support platform. The output end of the Z-axis drive motor is equipped with a wire winch, on which a wire is wound. One end of the wire is connected to the delivery pod.

[0011] Specifically, the bottom of the support platform is provided with steel wire pulleys at both ends, and there are two steel wire winches. Each of the two steel wire winches is wound with a steel wire, and the two steel wires are wound in opposite directions. The two steel wires are wound on the steel wire pulleys respectively.

[0012] Specifically, a detection camera is installed on the delivery cabin.

[0013] Specifically, the support platform is equipped with an electric push rod at its bottom, and the top of the delivery cabin is provided with a notch for one end of the electric push rod to extend into the delivery cabin and out to the storage area outside the delivery cabin.

[0014] This utility model has the following advantages:

[0015] 1. This utility model, by installing an electric push rod at the bottom of the support platform, allows for the unloading of recyclable resources stuck inside the delivery compartment when such resources are obstructed. The electric push rod extends into the delivery compartment and pushes the obstructed resources out through the opening, achieving unloading even when there is interference between the recyclable resources, goods, and the storage area below the delivery compartment, reducing unnecessary on-site manual intervention. Simultaneously, it can also compress goods that are higher in the storage area, further improving storage capacity.

[0016] 2. This utility model uses a roller shutter as the opening structure. Driven by the drive mechanism, the two roller shutters can move in opposite directions along the flip plate guide groove to open and close the opening. This reduces the encroachment on the internal space of the delivery compartment during movement and reduces the occurrence of malfunctions. At the same time, the repeated back-and-forth movement of the roller shutters enables the discharge of jammed goods.

[0017] 3. The roller shutter drive mechanism adopted in this utility model has a drive motor installed at the top of the delivery bin to drive the roller shutter to move, so as to realize the force balance of the reciprocating motion of the roller shutter and reduce the failure of difficulty in opening or closing due to force imbalance under load.

[0018] 4. This utility model adopts a two-stage structure of delivery cabin and support platform, which are connected by Z-axis guide shaft. When interference between the delivery cabin and the goods in the storage space below is detected, the height of the delivery cabin is increased by Z-axis drive mechanism to reduce interference and impact of the delivery cabin. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the pod of this utility model;

[0020] Figure 2 A schematic diagram of the delivery cabin structure of this utility model;

[0021] In the diagram: 1-Delivery chamber, 2-Support platform, 3-Weighing sensor, 4-Z-axis guide shaft, 5-Slider, 6-Roller shutter, 7-Flip plate guide groove, 8-Drive motor, 9-T-type steering gear, 10-Flip plate belt, 11-Drive synchronous pulley, 12-Synchronous pulley shaft, 13-Drive synchronous pulley, 14-Drive synchronous belt, 15-Flip plate synchronous belt pulley, 16-Synchronous pulley idler pulley, 17-Z-axis drive motor, 18-Wire winch, 19-Wire, 20-Wire pulley, 21-Moisture meter, 22-Y-axis guide mechanism, 23-X-axis guide mechanism, 24-Electric push rod. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present utility model and are not intended to limit the present utility model; that is, the described embodiments are only some embodiments of the present utility model, and not all embodiments. The components of the embodiments of the present utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0024] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0025] The present invention will be further described below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0026] like Figures 1 to 2As shown, a multi-dimensional motion delivery and detection device for recycling includes a support platform 2, a weighing sensor 3, a delivery chamber 1, and a Z-axis guide shaft 4. The weighing sensor 3 is mounted on a Y-axis guide mechanism 22, and the support platform 2 is placed on the weighing sensor 3. Multiple Z-axis guide shafts 4 are provided at the bottom of the support platform 2, and sliders 5 are slidably mounted on the Z-axis guide shafts 4. The sliders 5 are fixed to the delivery chamber 1. A flap mechanism is provided at the bottom of the delivery chamber 1 for opening and closing the bottom opening of the delivery chamber 1. A Z-axis drive mechanism is provided at the bottom of the support platform 2 and connected to the delivery chamber 1 to drive the delivery chamber 1 to move along the Z-axis. A detection camera is provided on the delivery chamber 1. The device also includes a control module. The electric push rod 24, the weighing sensor 3, the drive motor 8, the Z-axis drive motor 17, the moisture detector 21, and the detection camera are all connected to the control module, which controls the actions of the aforementioned components.

[0027] The multi-dimensional motion delivery and detection device in this embodiment is used in an ATM recycling station. The ATM recycling station is an automated three-dimensional warehouse with multiple storage compartments in a rectangular array inside for storing different categories of recyclable resources, such as compartments specifically for storing cardboard, compartments specifically for storing clothing, and compartments specifically for storing plastic bottles. The storage compartments are usually made of reusable bags.Due to the large quantity of cardboard, multiple turnover bags can be set up for storing cardboard. The automated storage and retrieval system (AS / RS) has a large storage capacity. In this embodiment, the multi-dimensional motion delivery and detection device is used for residents to deposit recyclable resources. The device weighs the deposited recyclable resources and calculates the price. After the resident confirms the sale, according to the different categories of recyclable resources, the control module controls the X-axis guide mechanism 23 and the Y-axis guide mechanism 22 to move the multi-dimensional motion delivery and detection device above the corresponding storage bin. Then, the recyclable resources in the multi-dimensional motion delivery and detection device are unloaded into the storage area. The delivery compartment 1 of the multi-dimensional motion delivery and detection device serves as the receiving cavity for the recyclable resources. During use, residents will... The recyclable resources to be sold are placed into the delivery chamber 1. Four Z-axis guide shafts 4 are installed at the bottom of the support platform 2. Limit blocks are installed on the Z-axis guide shafts 4 to restrict the position of the slider 5. After the recyclable resources are placed in, they are weighed by a weighing sensor 3. The data from the weighing sensor 3 is transmitted to the control module, and the price is calculated based on the weight of the recyclable resources. After weighing, the recyclable resources in the delivery chamber 1 need to be transferred to the corresponding storage bin. The delivery chamber 1 is moved along the Y-axis by the Y-axis guide mechanism 22, which is mounted on the X-axis guide mechanism 23. The X-axis guide mechanism 23 controls the movement of the delivery chamber 1 along the X-axis, thus allowing the recyclable resources to be delivered. The delivery compartment 1 moves above the corresponding storage area, and then the opening at the bottom of the delivery compartment 1 is opened by controlling the flip mechanism, allowing the recyclable resources inside the delivery compartment 1 to fall into the storage area under the action of gravity. Waste cardboard boxes are non-standard goods, and residents often bundle, exceed specifications, or forcefully insert them when disposing of them, leading to frequent malfunctions of the intelligent delivery device. This makes it easy for cardboard to get stuck inside the delivery compartment 1, preventing it from falling automatically under gravity after the opening is opened. In this embodiment, a detection camera and a weighing sensor 3 detect whether there is any recyclable resource stuck inside the delivery compartment 1. The detection camera takes pictures of the inside of the delivery compartment 1, and then transmits the photo data to the control module for processing. The system processes and determines whether there is any obstruction within the delivery compartment 1. Additionally, the weighing sensor 3 can weigh the contents after the bottom of the delivery compartment 1 is opened. The weight data is transmitted to the control module, which compares the weight before the recyclable resources were placed in with the weight after delivery through the opening of the bottom of the delivery compartment 1 to determine if there is obstruction. Upon detection of obstruction, the electric push rod and its associated push plate move towards the storage compartment, extending the push plate out of the delivery compartment. The electric push rod and push plate then push the obstructed recyclable resources out of the delivery compartment 1 through the opening, achieving unloading even when there is interference between the residue, goods, and the storage area below the delivery compartment, reducing unnecessary on-site human intervention.

[0028] Furthermore, the flip-up mechanism includes a roller shutter 6 and a drive mechanism. Flip-up guide grooves 7 are provided on both sides inside the delivery cabin 1. Rollers are provided on both sides of the roller shutter 6. The two roller shutters 6 are symmetrically arranged at the bottom of the delivery cabin 1, and the rollers on both sides of the roller shutter 6 are slidably connected to the flip-up guide grooves 7 on both sides inside the delivery cabin 1. The drive mechanism is provided on the delivery cabin 1 to drive the roller shutter 6 to move along the flip-up guide groove 7. The flip-up guide groove 7 is L-shaped and has a rounded transition at the corner. In this embodiment, two roller shutters 6 constitute the bottom plate of the delivery compartment 1. When it is necessary to discharge the recyclable resources in the delivery compartment 1, the control module controls the drive mechanism to move the roller shutters 6. The roller shutters 6 have a roller shutter-like structure formed by connecting several plates together, which reduces the encroachment on the internal space of the delivery compartment during movement and reduces the occurrence of failures. The roller shutters 6 can be bent, so multiple rollers are provided on both sides of the roller shutters 6. When the roller shutters 6 move along the flip-plate guide groove 7, the two roller shutters 6 move in opposite directions to open the opening at the bottom of the delivery compartment 1. The two roller shutters 6 move from a horizontal position along the side wall of the delivery compartment 1 to a vertical position and fit against the inner side wall of the delivery compartment 1, so that the recyclable resources can fall from the opening. After the recyclable resources are unloaded, the delivery compartment 1 moves to the position specified by the system, and the drive mechanism drives the roller shutters 6 to move in the opposite direction, so that the roller shutters 6 can be retracted. The opening of the delivery compartment 1 is closed by the roller shutter 6. This opening closure method allows the opening to be fully opened, facilitating the falling of recyclable resources and preventing them from getting stuck inside the delivery compartment 1. Compared to the existing technology that uses a flip-over method, the roller shutter 6 of this invention can fully open the opening at the bottom of the delivery compartment 1 when it is opened, which is more conducive to unloading recyclable resources. At the same time, it can be used in conjunction with the Z-axis guide shaft 4. During unloading, the recyclable resources will not interfere with the roller shutter 6. In contrast, the flip-over method of opening and closing the opening is limited by the structure, and the opening will not be fully opened when it is opened. This can easily cause jamming and interference. Moreover, when jamming and interference occur, the delivery compartment 1 cannot be lifted so that the Z-axis guide shaft 4 can push the recyclable resources for unloading, which will lead to structural damage. The roller shutter 6 of this invention can be used in conjunction with the Z-axis guide shaft 4 to reduce jamming and interference.

[0029] Furthermore, the drive mechanism includes a drive motor 8, a T-shaped steering gear 9, and a flap belt 10. The drive motor 8 is fixedly mounted on the top of the delivery cabin 1. The output end of the drive motor 8 is connected to the input end of the T-shaped steering gear 9. Both output ends of the T-shaped steering gear 9 are provided with active synchronous pulleys 11. Both ends of the top of the delivery cabin 1 are rotatably provided with synchronous pulley shafts 12. Both synchronous pulley shafts 12 are provided with drive synchronous pulleys 13. The two active synchronous pulleys 11 are respectively connected to the drive synchronous pulleys 13 through drive synchronous belts 14. Both ends of the synchronous pulley shafts 12 are provided with flap synchronous pulleys 15. Both sides of the bottom of the delivery cabin 1 are provided with synchronous idler pulleys 16. The flap synchronous pulleys 15 and the synchronous idler pulleys 16 are connected to the flap belt 10. One end of the roller shutter 6 is connected to the flap belt 10. In this embodiment, a drive mechanism is needed to drive the two roller shutters 6 to move in opposite directions. A drive motor 8 is fixed to the top of the delivery cabin 1. The output end of the drive motor 8 is connected to the input end of a T-shaped steering gear 9 via a coupling. The T-shaped steering gear 9 has two output ends with opposite rotation directions. It includes one input shaft and two output shafts. One end of each output shaft is equipped with a driving bevel gear, and one end of each of the two driven shafts is connected to a driven bevel gear. The two driven bevel gears mesh with the driving bevel gear, and the two driven shafts are in a straight line. This allows the two driven shafts to rotate in opposite directions. In the opposite direction, the control module controls the drive motor 8 to drive the T-shaped steering gear 9 to rotate. The T-shaped steering gear 9 drives the two active synchronous pulleys 11 to rotate. In this way, the two active synchronous pulleys 11 drive the synchronous pulley shafts 12 to rotate through the drive synchronous belt 14. The two synchronous pulley shafts 12 drive the flip plate synchronous belt pulleys 15 to rotate, which in turn drive the flip plate and belt 10 to rotate. In this way, the flip plate and belt 10 can drive the roller shutter 6 to move. By setting the drive mechanism on the top of the delivery cabin, compared with the existing side-lift drive method, the reciprocating motion drive force of the roller shutter is balanced, reducing failures.

[0030] Furthermore, an elastic membrane is provided on the surface of the roller shutter panel 6. In this embodiment, by providing an elastic membrane on the surface of the roller shutter panel 6, the surface of the roller shutter panel 6 is made smooth, reducing the resistance of recycled resources during unloading, and at the same time reducing interference between recycled resources and the roller shutter panel 6.

[0031] Furthermore, the Z-axis drive mechanism includes a Z-axis drive motor 17 disposed at the bottom of the support platform 2, and a wire winch 18 disposed at the output end of the Z-axis drive motor 17. A wire 19 is wound on the wire winch 18, and one end of the wire 19 is connected to the delivery cabin 1. In this embodiment, the control module controls the Z-axis drive motor 17 to drive the wire winch 18 to wind the wire 19 onto the wire winch 18, causing the delivery chamber 1 to move upward along the Z-axis. At this time, the slider 5 slides along the Z-axis guide shaft 4. While the delivery chamber 1 moves upward along the Z-axis, the Z-axis guide shaft 4 extends into the delivery chamber 1. Since some recycled resources, such as cardboard, have a certain degree of elasticity, if their size is larger than the size of the delivery chamber 1, the cardboard can easily get stuck in the delivery chamber 1. After the opening is opened, it cannot fall automatically due to gravity. After detecting the jamming, the control module controls the Z-axis drive motor 17 to drive the delivery chamber 1 to move upward along the Z-axis so that the Z-axis guide shaft 4 extends into the delivery chamber 1. This can push the stuck cardboard out of the opening. At the same time, an electric push rod 24 can be set at the bottom of the support platform 2 to compensate for the stroke of the Z-axis guide shaft 4, making it easier to push out the stuck recycled resources.

[0032] Furthermore, the bottom of the support platform 2 is provided with steel wire pulleys 20 at both ends, and two steel wire winches 18 are provided, each with a steel wire 19 wound around it. The two steel wires 19 are wound around the corresponding steel wire pulleys 20. In this embodiment, in order to ensure that the force is evenly distributed when the delivery cabin 1 rises, two steel wire pulleys 20 are provided. The Z-axis drive motor 17 drives the two steel wire pulleys 20 to rotate, thereby driving the steel wires 19 on them to move left and right at both ends of the delivery cabin 1. This can drive the delivery cabin 1 to rise, thus eliminating interference and collision between the delivery cabin and the stored currency below.

[0033] Furthermore, an electric push rod 24 is provided at the bottom of the support platform 2, and a notch is provided at the top of the delivery cabin 1 for one end of the electric push rod 24 to extend into the delivery cabin 1. When the Z-axis drive mechanism drives the delivery cabin 1 to rise and the Z-axis guide shaft 4 extends into the delivery cabin 1, if there is still recyclable material stuck, the control module controls the electric push rod 24 to extend into the delivery cabin 1 and reciprocate to push the stuck goods, thereby achieving complete unloading and compensating for the insufficient stroke of the Z-axis guide shaft 4. After the control module detects that unloading is complete, the electric push rod 24 resets. To facilitate unloading, a push plate can be provided at the bottom of the electric push rod 24 to increase the contact area with the recyclable material, which is more conducive to unloading.

[0034] Due to the limited storage space in automated warehouses, the space of the storage compartments is also limited. If the capacity of recyclable resources in a storage compartment exceeds half during unloading, incomplete unloading may occur, with some resources remaining in the delivery compartment 1. This will cause interference when the delivery compartment 1 moves along the XY direction. In this case, the delivery compartment 1 needs to be raised. Only after raising the delivery compartment 1 can the recyclable resources be completely unloaded. If unloading is still insufficient after raising, the electric push rod 24 can be driven to move the delivery compartment 1 further. The recycled resources inside are ejected, and after ejection, part of the electric push rod 24 extends out of the opening to compress the recycled resources in the storage bin. This prevents the recycled resources from overflowing the storage bin and avoids interference with the delivery bin 1. The delivery bin 1 can only be raised and the electric push rod 24 can only be extended after the roller shutter 6 opens. This will not damage the structure. After unloading, the electric push rod 24 can be reset, and the delivery bin can only be lowered after it reaches the designated position. In addition, during unloading, the recycled resources are unloaded into different storage bins in a cycle to reduce the occurrence of interference. In this invention, the detection camera and weighing sensor 3 work together to check for any obstruction of recyclable resources. After obstruction is detected, the control module first drives the Z-axis drive motor 17 to move the delivery chamber 1 upward along the Z-axis, causing the Z-axis guide shaft 4 to extend into the delivery chamber 1 and push the obstructed cardboard out of the opening. The Z-axis drive motor 17 then drives the delivery chamber 1 to reset and checks for obstruction again. If obstruction still occurs, the control module drives the electric push rod 24 to extend into the delivery chamber 1 and reciprocate to push the recyclable resources out. The stroke of the electric push rod 24 is greater than the upward stroke of the delivery chamber 1. After the electric push rod 24 resets, the detection is performed again. If obstruction is still detected, manual intervention is required. To detect obstruction, a grating can also be installed at the opening of the delivery chamber 1. The grating is electrically connected to the control module and works with the detection camera and weighing sensor 3 to perform the detection.

[0035] The above description is merely a preferred embodiment of this utility model and does not constitute any limitation on this utility model. Any person skilled in the art can make many possible variations and modifications to the technical solution of this utility model, or modify it into equivalent embodiments, without departing from the scope of the technical solution of this utility model. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technology of this utility model without departing from the scope of the technical solution of this utility model shall fall within the protection scope of this technical solution.

Claims

1. A multi-dimensional motion delivery and detection device for recycling, characterized in that: The system includes a support platform (2), a weighing sensor (3), a delivery cabin (1), and a Z-axis guide shaft (4). The weighing sensor (3) is mounted on a Y-axis guide mechanism (22). The support platform (2) is mounted on the weighing sensor (3). The bottom of the support platform (2) is provided with multiple Z-axis guide shafts (4). A slider (5) is slidably mounted on the Z-axis guide shaft (4). The slider (5) is fixed on the delivery cabin (1). The bottom of the delivery cabin (1) is provided with a flap mechanism for opening and closing the bottom opening of the delivery cabin (1). The bottom of the support platform (2) is provided with a Z-axis drive mechanism connected to the delivery cabin (1) for driving the delivery cabin (1) to move along the Z-axis.

2. The multi-dimensional motion delivery and detection device for recovery according to claim 1, characterized in that: The flip-up mechanism includes a roller shutter (6) and a drive mechanism. Flip-up guide grooves (7) are provided on both sides inside the delivery cabin (1). Rollers are provided on both sides of the roller shutter (6). The two roller shutters (6) are symmetrically arranged at the bottom of the delivery cabin (1). The rollers on both sides of the roller shutter (6) are slidably connected to the flip-up guide grooves (7) on both sides inside the delivery cabin (1). The drive mechanism is provided on the delivery cabin (1) to drive the roller shutter (6) to move along the flip-up guide grooves (7).

3. The multi-dimensional motion delivery and detection device for recovery according to claim 2, characterized in that: The drive mechanism includes a drive motor (8), a T-shaped steering gear (9), and a flap belt (10). The drive motor (8) is fixedly mounted on the top of the delivery pod (1). The output end of the drive motor (8) is connected to the input end of the T-shaped steering gear (9). Both output ends of the T-shaped steering gear (9) are equipped with active synchronous pulleys (11). Both ends of the top of the delivery pod (1) are rotatably equipped with synchronous pulley shafts (12). Each synchronous pulley shaft (12) is equipped with a drive belt. The two active synchronous pulleys (11) are connected to the drive synchronous pulley (13) via a drive synchronous belt (14). Both ends of the synchronous pulley shaft (12) are provided with flap synchronous belt pulleys (15). Both sides of the bottom of the delivery cabin (1) are provided with synchronous idler pulleys (16). The flap synchronous belt pulleys (15) and the synchronous idler pulleys (16) are connected to the belt (10) via flaps. One end of the roller shutter (6) is connected to the flap and the belt (10).

4. The multi-dimensional motion delivery and detection device for recovery according to claim 2, characterized in that: The flap guide groove (7) is L-shaped.

5. The multi-dimensional motion delivery and detection device for recycling according to claim 3, characterized in that: An elastic membrane is provided on the surface of the roller shutter panel (6).

6. The multi-dimensional motion delivery and detection device for recovery according to claim 3, characterized in that: The Z-axis drive mechanism includes a Z-axis drive motor (17) located at the bottom of the support platform (2). The output end of the Z-axis drive motor (17) is provided with a wire winch (18). A wire rope (19) is wound on the wire winch (18). One end of the wire rope (19) is connected to the delivery cabin (1).

7. A multi-dimensional motion delivery and detection device for recovery according to claim 6, characterized in that: The support platform (2) has steel wire pulleys (20) at both ends of its bottom. There are two steel wire winches (18), and a steel wire (19) is wound on each of the two steel wire winches (18). The two steel wires (19) are wound in opposite directions and are wound on the steel wire pulleys (20) respectively.

8. The multi-dimensional motion delivery and detection device for recovery according to claim 1, characterized in that: A detection camera is installed on the delivery cabin (1).

9. A multi-dimensional motion delivery and detection device for recycling according to claim 1, characterized in that: The support platform (2) is provided with an electric push rod (24) at the bottom, and the top of the delivery cabin (1) is provided with a notch for one end of the electric push rod (24) to extend into the delivery cabin (1).

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