Cargo access mechanisms, cargo access robots, and methods

Abstract

This disclosure relates to the field of automated cargo access technology and discloses cargo access mechanisms, cargo access robots, and methods that meet multiple types and shapes of cargo access needs. [Solution] The cargo access mechanism includes a support base, a gripping mechanism, and a blocking mechanism. The support base includes a support member. The gripping mechanism has a sliding means slidably mounted to the support member along a first direction, and a pair of gripping portions movably mounted to the sliding means along a second direction. The blocking mechanism has a first blocking member movably mounted to the sliding means along a third direction, and a second blocking member mounted to the support member. The first and second directions intersect in a horizontal plane, and the third direction is different from the first and second directions. The above cargo access mechanism can be applied to regularly shaped and irregularly shaped cargo, has many operating modes, and is more functional.

Description

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[0001] This disclosure is based on an application with Chinese Application No. 202411910361.X and a filing date of December 23, 2024, and claims its priority. The disclosure content of this Chinese application is incorporated into this disclosure as a whole.

Technical Field

[0002] This disclosure relates to the technical field of automatic cargo access, and specifically to cargo access mechanisms, cargo access robots, and methods.

Background Art

[0003] Boxed drugs and bottled drugs are common types of drugs, and these drugs have relatively regular shapes. In related technologies, a drug dispenser can take out goods by a gripping method.

[0004] The inventors have discovered that the prior art has at least the following problems. Currently, the types of drugs are becoming increasingly rich, and some drugs are not in the conventional rectangular shape, and the drug dispenser cannot take out irregular drugs.

Summary of the Invention

[0005] This disclosure proposes a cargo access mechanism, a cargo access robot, and a method for meeting the cargo access needs of various shapes.

[0006] Some embodiments of this disclosure provide a cargo access mechanism including a support base, a gripping mechanism, and a blocking mechanism. <000002​​​​​The block mechanism comprises a first block member movably mounted on the sliding means along a third direction, and a second block member mounted on the support member. The first and second directions intersect in the horizontal plane, and the third direction is different from the first and second directions.

[0008] In some embodiments, the sliding means includes a frame, a first drive unit, a first transmission mechanism, and a pair of first connecting members. The frame includes a first upright column, a second upright column, and a connecting upright column, the first upright column and the second upright column being distributed, one end of the connecting upright column being fixedly connected to the first upright column, the other end of the connecting upright column being fixedly connected to the second upright column, the first upright column slidably holding one end of the support member in the second direction, and the second upright column slidably holding the other end of the support member in the second direction. The first drive unit is attached to one of the first column, the second column, and the connecting column. The first connecting members are driven and connected to the first drive unit via the first transmission mechanism so that they move along the second direction by the drive of the first drive unit.

[0009] In some embodiments, the first transmission mechanism is A first gear fixedly connected to the output shaft of the first drive unit, A first rack that meshes with the first gear, It includes a second rack that meshes with the first gear and is arranged parallel to the first rack, One end of the first connecting member is fixedly connected to the first rack, and the other end of the first connecting member is fixedly connected to the second rack.

[0010] In some embodiments, the first transmission mechanism further includes a pair of first guides fixedly attached to the connecting column, The first guide sections are arranged side by side along the direction of movement of the first rack, and the first gear is positioned between the pair of first guide sections. One of the first connecting members is slidably attached to one of the first guide portions, the other of the first connecting members is slidably attached to the other of the first guide portions, one of the gripping portions is fixedly connected to one of the first connecting members, and the other of the gripping portions is fixedly connected to the other of the first connecting members.

[0011] In some embodiments, the block mechanism is A second drive unit attached to the first column, the second column, or the connecting column, The present invention further includes a second transmission mechanism, which is driven and connected to the second drive unit so as to rotate by the drive of the second drive unit, The first block member is attached to the second transmission mechanism such that it rotates in a third direction in conjunction with the second transmission mechanism.

[0012] In some embodiments, the second transmission mechanism includes an output shaft gear, a pair of second gears, a pair of semi-gears, and a connecting shaft. The output shaft gear is fixedly connected to the power output shaft of the second drive unit. One of the pair of second gears meshes with the output shaft gear, The semi-gear meshes with the second gear in a one-to-one correspondence so that it rotates when driven by the second gear. The connecting shaft either fixes and connects each of the paired semi-gears, or fixes and connects the two second gears. One end of the first block member is fixedly connected to one of the semi-gears, and the other end of the first block member is fixedly connected to the other semi-gear.

[0013] In some embodiments, the second transmission mechanism further includes a pair of third connecting members, the third connecting members being fixedly connected in a one-to-one correspondence with the semi-gears. One end of the first block member in the second direction is fixedly connected to one of the third connecting members, and the other end of the first block member in the second direction is fixedly connected to the other of the third connecting member.

[0014] In some embodiments, the first block member has a first limit position and a second limit position, When the first block member is in the first limit position, in the second direction, the first block member is in close contact with the support member, the first block member is positioned between the pair of gripping portions, the first block member is configured to move in the first direction with the sliding means to push the cargo away from the support member, or the first block member is configured to stop the cargo so as to prevent the cargo from falling from the end of the support member on which the first block member is positioned. When the first block member is in the second limit position, the first block member is located outside the movement trajectory of the gripping portion along the second direction, and the gripping portion is movable in the second direction.

[0015] In some embodiments, the gripping mechanism is A third drive unit is attached to the bottom of the support member, The present invention further includes a third transmission mechanism which is driven and connected to the third drive unit and fixedly connected to the sliding means, The sliding means is configured to move linearly in the first direction in conjunction with the third transmission mechanism by the drive of the third drive unit.

[0016] In some embodiments, the third drive mechanism is A first guide rail is fixedly attached to the support base, A second guide part slidably attached to the first guide rail; A pulley fixedly connected to the output shaft of the third drive part; A first belt attached to the bottom of the support base, and includes: The sliding means is fixedly attached to the second guide part, the first belt meshes with the pulley, and the sliding means is fixedly connected to the first belt.

[0017] In some embodiments, the block mechanism includes: A fourth drive part attached to the support member; A fourth transmission mechanism drivingly connected to the fourth drive part, and further includes: The second block member is rotatably attached to one end of the support member in the first direction, and the fourth drive part is drivingly connected to the second block member to switch the second block member between a standing state and a lying state.

[0018] In some embodiments, the fourth transmission mechanism includes: A crank having one end fixedly connected to the power output shaft of the fourth drive part; A link having one end rotatably connected to the other end of the crank and the other end rotatably connected to the second block member, and includes: The fourth drive part is located at the bottom of the support member, and the crank and the link are also located at the bottom of the support member.

[0019] In some embodiments, the cargo access mechanism further includes a regulating device attached to the support member and located at an end of the support member away from the second block member.

[0020] In some embodiments, the first block member includes a receiving groove configured to avoid the regulating device. When the first block member is at the first limit position, the regulating device is located in the receiving groove.

[0021] In some embodiments, the cargo access mechanism is configured to include the following picking conditions for irregularly shaped cargo: In the first direction, the restricting device is located between the first block member in the first limit position and the second block member in the upright position. In the second direction, the first block member is located between the pair of gripping portions, The first block member, the second block member, and the pair of gripping parts all surround a storage box with an open top.

[0022] In some embodiments, the cargo access mechanism is configured to include the following unloading conditions for irregularly shaped cargo: In a first direction, the first block member at the first limit position is positioned between the restricting device and the second block member in a horizontal position, or the first block member at the first limit position accommodates the restricting device through its own accommodating groove, and in a second direction, the first block member is positioned between the pair of gripping portions. The first block member moves in a first direction with the sliding means so as to push the cargo on the support member away from the support member.

[0023] In some embodiments, the cargo access mechanism has the following rules for cargo picking: The first block member is in a second limit position, and in a first direction, the first block member is located on the side of each gripping portion away from the second block member, and in a second direction, the first block member is positioned outside the movement trajectory of the gripping portion, the second block member is in a horizontal position, the gripping portion moves with the sliding means so as to protrude from the support base, and the gripping portion is closed in a second direction so as to grip cargo located outside the support member.

[0024] In some embodiments, the cargo access mechanism has the following rules for cargo unloading: The first block member is in a second limit position, and in a first direction, the first block member is located on the side of each of the gripping portions away from the second block member, and in a second direction, the first block member is positioned outside the movement trajectory of the gripping portion, the second block member is in a horizontal position, the gripping portion is closed in a second direction to grip cargo located on the support member, and the gripping portion moves with the sliding means so as to protrude from the support base to deliver the gripped cargo outside the support member.

[0025] In some embodiments, the cargo access mechanism has the following rules for cargo unloading: The first block member is in a first limit position, and in a first direction, the first block member is located between the restricting device and the second block member which is in a horizontal position, and the first block member is located between the pair of gripping portions. The first block member moves in a first direction with the sliding means so as to push the cargo on the support member away from the support member.

[0026] In some embodiments, a cargo access robot is provided.

[0027] The aforementioned cargo access robot, Carriage arm and The invention includes a cargo access mechanism according to one of the proposed designs, which is rotatably mounted on the carriage arm.

[0028] In some embodiments, the cargo access robot further A fifth drive unit attached to the carriage arm, It comprises a fifth transmission mechanism driven and connected to the fifth drive unit, The cargo access mechanism includes a fifth transmission mechanism which is driven and connected to the fifth drive unit and fixedly connected to the cargo access mechanism, such that the cargo access mechanism rotates by the drive of the fifth drive unit.

[0029] In some embodiments, the cargo access robot further Support column and A sixth drive unit attached to the support column, The system includes a sixth transmission mechanism driven and connected to the sixth drive unit, The sixth transmission mechanism is fixedly connected to the carriage arm so that the cargo access mechanism moves along the support column by the drive of the sixth drive unit.

[0030] In some embodiments, the sixth transmission mechanism includes a first timing pulley, a second timing pulley, a timing belt, a second guide rail, and a third guide section. The first timing pulley is attached to one end of the support column and is fixedly connected to the power output shaft of the sixth drive unit. The second timing pulley is attached to the other end of the support column, The timing belt is tensioned by the first timing pulley and the second timing pulley, and the cargo access mechanism is attached to the timing belt so as to move up and down in conjunction with the rotation of the timing belt. The second guide rail is attached to the support column, The third guide section is slidably mounted on the second guide rail, and the cargo access mechanism is fixedly mounted on the third guide section.

[0031] In some embodiments, a method for receiving and shipping goods is provided.

[0032] The method for receiving and shipping the aforementioned cargo is: A cargo access system including a cargo access robot as described in any of the technical proposals of the present invention includes the step of determining whether to pick or unload, When a cargo access system performs picking, there is a step to determine whether the shape of the cargo to be picked is consistent, If the shape of the cargo is regular, the cargo access mechanism is adjusted to a picking state for regular cargo. The process includes the step of extending the gripping mechanism of the cargo access system to grip the cargo.

[0033] In some embodiments, the method for receiving and retrieving goods is further If the shape of the cargo is irregular, the cargo access mechanism of the cargo access system is adjusted to the picking state for irregularly shaped cargo. The procedure includes the step of placing cargo into a storage box formed by the cargo access mechanism of the cargo access system.

[0034] In some embodiments, the method for receiving and retrieving goods is further When a cargo access system unloads cargo, it includes a step of determining whether the shape of the cargo to be unloaded is regular, If the shape of the cargo is regular, the cargo access mechanism of the cargo access system is adjusted to the unloading state for the regular cargo. The process includes the step of pushing the cargo out of the support member of the cargo access mechanism or gripping the cargo out of the support member.

[0035] In some embodiments, the method for receiving and retrieving goods is further If the shape of the cargo is irregular, the cargo access mechanism of the cargo access system is adjusted to the unloading state for the irregularly shaped cargo. The step includes pushing the cargo out from the support member of the cargo access mechanism.

[0036] The cargo access mechanism provided by the above technical proposal has diverse operating states and is mainly applicable to the access of pharmaceuticals and cargo of similar sizes. For regularly shaped cargo, the gripping part is used to grasp the cargo. For irregularly shaped cargo, a storage box with an open top is formed, and the irregularly shaped cargo is directly pushed into the storage box for removal. In addition, since there are block members around the storage box, the irregularly shaped cargo is also securely placed on the support members, making it less likely for the irregular cargo to fall and increasing the reliability of the removal operation. When storing cargo, the gripping part can also be used to grasp and remove regularly shaped cargo. Therefore, the above cargo access mechanism is applicable to both regularly shaped and irregularly shaped cargo, has diverse operating modes, and offers a richer range of functions. [Brief explanation of the drawing]

[0037] The accompanying drawings described herein provide further understanding of the Disclosure and constitute part of the Application. Exemplary embodiments and descriptions of the Disclosure are for illustrative purposes only and do not constitute an unreasonable limitation of the Disclosure. In the drawings, Figure 1 is a schematic perspective view of a cargo access mechanism according to some embodiments of the present disclosure.

[0038] Figure 2 is another schematic perspective view of a cargo access mechanism according to some embodiments of the present disclosure.

[0039] Figure 3 is yet another schematic perspective view of a cargo access mechanism according to some embodiments of the present disclosure.

[0040] Figure 4 is a schematic perspective view of a sliding means of a cargo access mechanism according to some embodiments of the present disclosure.

[0041] Figure 5 is a schematic diagram of one cargo access mechanism according to some embodiments of the present disclosure.

[0042] Figure 6 is another schematic diagram of a cargo access mechanism according to some embodiments of the present disclosure.

[0043] Figure 7 is a schematic diagram showing how a cargo access mechanism according to some embodiments of the present disclosure grips a single piece of cargo.

[0044] Figure 8 is a schematic diagram showing how a cargo access mechanism according to some embodiments of this disclosure grips multiple cargo items.

[0045] Figure 9 is a schematic perspective view of a cargo access robot according to some embodiments of the present disclosure.

[0046] Figure 10 is another schematic perspective view of a cargo access robot according to some embodiments of the present disclosure.

[0047] Figure 11 is a schematic perspective view of a cargo access system according to some embodiments of the present disclosure.

[0048] Figure 12 is another schematic perspective view of a cargo access system according to some embodiments of the present disclosure.

[0049] Figure 13 is yet another schematic perspective view of a cargo access system according to some embodiments of the present disclosure.

[0050] Figure 14 is a schematic diagram of a second storage area of ​​a cargo access system according to some embodiments of the present disclosure.

[0051] Figure 15 is a schematic diagram of a cargo receiving and shipping method according to some embodiments of the present disclosure. Reference number, 100, Chemical Cabinet 200, Packaging machine 300, delivery lockers 400, cargo 500, Cargo access robot 1. Support base 2, Gripping mechanism 3. Block mechanism 4. Regulatory device 5. Carriage arm 6. Fifth drive unit 7. Fifth transmission mechanism 8, support pillar 9. Sixth drive unit 10. Sixth transmission mechanism 12. Running mechanism 11. Support member 21. Sliding mechanism 22, grip part 23. Third drive unit 24. Third transmission mechanism 211, Frame 2121, First drive unit 2122, First transmission mechanism 2123, First connecting member 2111, First pillar 2112, Second pillar 2113, connecting pole 2122a, first gear 2122b, first rack 2122c, second rack 2122d, First guide section 240, First guide rail 241, Second guide section 242, Pulley 243, Belt 1 31. First block member 32. Second block member 33. Second drive unit 34. Second transmission mechanism 35. Fourth drive unit 36. The fourth transmission mechanism 311, storage groove 341, Second Gear 342, semi-gear 343, connecting shaft 344, Third connecting member 360, Link 361, Crank 71. The third gear 72. The fourth gear 101, First Timing Pulley 102, Second timing pulley 103. Timing belt 104, Third Guide Section 1001, First Storage Area 1002, Second storage area 1003, Conveyor Lane 1003a, conveyor belt 1003b, partition plate [Modes for carrying out the invention]

[0052] The technical solutions of this disclosure will be described in detail below with reference to Figures 1 to 15. The description of exemplary embodiments is for illustrative purposes only and does not limit this disclosure or its application or use. This disclosure can be realized in many different forms, not limited to the embodiments described herein. Providing these embodiments makes this application complete and comprehensive and fully conveys the scope of this disclosure to those skilled in the art. Unless otherwise specified, the relative arrangement of parts and steps, material compositions, numerical expressions and numerical values ​​described in these embodiments should be construed as illustrative only and not considered as limitations.

[0053] The terms “first,” “second,” and similar terms used in this disclosure are not intended to indicate order, quantity, or materiality, but are used solely to distinguish different parts. Similar terms such as “includes” or “contains” mean that the elements preceding the phrase include the elements listed after the phrase, but do not exclude the possibility of including other elements.

[0054] Where this disclosure describes a particular device as being located between a first device and a second device, there may or may not be an intermediate device between that particular device and the first or second device. Where this disclosure describes a particular device as being connected to another device, that particular device may be connected directly to the other device without an intermediate device, or it may be connected indirectly through an intermediate device.

[0055] All terms used in this disclosure, including technical or scientific terms, should be understood as those understood by those skilled in the art unless otherwise defined. Furthermore, unless otherwise defined, terms defined in general dictionaries should be interpreted in a way consistent with their meaning in the context of the relevant technology, and not in an idealized or overly formalized sense.

[0056] While we will not discuss in detail any technologies, methods, and devices known to those skilled in the art, where appropriate, such technologies, methods, and devices will be considered part of the specification.

[0057] The dimensions of each part shown in the drawings do not necessarily reflect actual proportional relationships. In each drawing, common or similar structural elements are given the same reference number, and their redundant descriptions are omitted where appropriate.

[0058] In this disclosure, terms such as “center,” “vertical,” “horizontal,” “front,” “rear,” “left,” “right,” “perpendicular,” “horizontal,” “up,” “down,” “inside,” and “outside” refer to orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are intended to simplify and facilitate the explanation of this disclosure. These terms do not suggest or imply that the apparatus or element has a particular orientation or is configured and operated in a particular orientation, and should not be understood as limiting the scope of protection of this disclosure.

[0059] In the subsequent description of specific embodiments, for the sake of explanation, we will refer to Figure 1 and define the longitudinal direction of the support member 11 as the first direction X, the second direction of the support member 11 as the second direction Y, and the direction of movement of the first block member 31 as the third direction W. We will define the vertical direction perpendicular to the first direction X and the second direction Y as the fourth direction Z. The movement method of the first block member 31 may be linear or rotational. In this embodiment, we will describe the movement method of the first block member 31 as rotational.

[0060] Cargo access mechanisms according to some embodiments of this disclosure can be used to access cargo 400 or similar cargo of various different shapes. Specifically, these include bagged medicines, rectangular cargo 400, and irregularly shaped cargo 400. In this embodiment, the object to be accessed is cargo 400. In this specification, regularly shaped cargo 400 refers to cargo 400 with regular shapes such as rectangular or cylindrical, and irregularly shaped cargo 400 refers to cargo 400 with shapes such as bagged medicines or toothpaste tubes.

[0061] Figure 1 is a schematic perspective view of a cargo access mechanism according to some embodiments of the present disclosure. Figure 2 is another schematic perspective view of a cargo access mechanism according to some embodiments of the present disclosure. Figure 3 is yet another schematic perspective view of a cargo access mechanism according to some embodiments of the present disclosure. Figure 4 is a schematic perspective view of the sliding means of a cargo access mechanism according to some embodiments of the present disclosure. Figure 5 is a schematic diagram of one cargo access mechanism according to some embodiments of the present disclosure. Figure 6 is another schematic diagram of a cargo access mechanism according to some embodiments of the present disclosure. Figure 7 is a schematic diagram of a cargo access mechanism according to some embodiments of the present disclosure gripping one cargo 400. Figure 8 is a schematic diagram of a cargo access mechanism according to some embodiments of the present disclosure gripping multiple cargo 400.

[0062] Referring to Figures 1 to 3, some embodiments of the cargo access mechanism of the present disclosure include a support base 1, a gripping mechanism 2, and a blocking mechanism 3. The support base 1 includes a support member 11. The gripping mechanism 2 includes a sliding means 21 and a pair of gripping portions 22, the sliding means 21 being slidably mounted on the support member 11 along a first direction, and the gripping portions 22 being movably mounted on the sliding means 21 along a second direction. The blocking mechanism 3 includes a second blocking member 32 and a first blocking member 31, the second blocking member 32 being mounted on the support member 11, and the first blocking member 31 being movably mounted on the sliding means 21 along a third direction. Here, the first and second directions are located in the horizontal plane and intersect, and the third direction is different from the first and second directions. The first direction is specifically the X direction, and the second direction is specifically the Y direction.

[0063] The support base 1 specifically uses a flat plate, and the plate-shaped support member 11 is lightweight, provides high support, and has a large support area for the cargo 400. Furthermore, the edge of the support base 1 is connected to a sliding mechanism 21, and the sliding mechanism and the gripping part 22 attached to the sliding mechanism can move linearly in a first direction relative to the support base 1 as a whole. The travel distance of the sliding mechanism is slightly shorter than the length of the support base 1.

[0064] The gripping mechanism 2 has two directions of motion. The first motion is linear movement along the X direction, which allows the position of the gripping means relative to the support base 1 to change so that the gripping portion 22 of the gripping mechanism 2 extends outside the support base 1 (position of the sliding means and gripping portion 22 shown in Figure 5). The second motion is to move the pair of gripping portions 22 in the Y direction to change the distance between the pair of gripping portions 22 in the Y direction, thereby allowing the cargo 400 located outside the support base 1 to be gripped (position of the two gripping portions 22 shown in Figure 5).

[0065] The blocking mechanism 3 performs a blocking function and includes a first blocking member 31 and a second blocking member 32.

[0066] The first block member 31 has two limit positions: a first limit position and a second limit position. When the first block member 31 is in the first limit position, it is in close or near-close contact with the upper surface of the support member 11 (in this specification, close or near-close contact is considered to mean that the first block member 31 is in close contact with the upper surface of the support member 11), and the first block member 31 performs a blocking action, preventing the cargo 400 on the support member 11 from falling from the side of the first block member 31. At the same time, when the first block member 31 is in the first limit position, in the second direction, the first block member 31 is located between a pair of gripping portions 22, with a gap between the first block member 31 and the two gripping portions 22. Since the two gripping portions 22 are blocked by the first block member 31 when they are closed, the two gripping portions 22 do not perform a closing motion along the second direction when the first block member 31 is in the first limit position.

[0067] When the first block member 31 is in the second limit position, the first block member 31 is lifted. There are several ways to lift it; it can be lifted by linear motion or by rotation. In this embodiment, an example of lifting by rotation is shown. Once lifted, the first block member 31 moves away from the motion trajectories of each gripping part 22, and each gripping part 22 can move in the second direction along its respective motion trajectory. When the two gripping parts 22 move closer to each other, the distance between the two gripping parts 22 decreases, allowing them to grip the cargo 400. When the two gripping parts 22 move further apart, the distance between the two gripping parts 22 increases, allowing them to release the cargo 400. The bidirectional arrow S in Figure 5 indicates the direction of movement of the two gripping parts 22. The bidirectional arrow S is parallel to the second direction, i.e., the Y direction.

[0068] Similarly, the second block member 32 has two states: an upright state and a horizontal state. When the second block member 32 is in the upright state, it prevents the cargo 400 on the support member 11 from falling from its position. When the second block member 32 is in the horizontal state, the cargo 400 can move from the second block member 32 to the support member 11, and can also be pushed out of the support member 11 by the first block member 31.

[0069] Referring to Figures 1 to 4, particularly Figures 3 and 4, in some embodiments the sliding means 21 includes a frame 211, a first drive unit 2121, a first transmission mechanism 2122, and a pair of first connecting members 2123. The frame 211 includes a first upright column 2111, a second upright column 2112, and a connecting upright column 2113. The first upright column 2111 and the second upright column 2112 are arranged in a distributed manner, one end of the connecting upright column 2113 is fixedly connected to the first upright column 2111, and the other end of the connecting upright column 2113 is fixedly connected to the second upright column 2112. The first upright column 2111 is slidably held at one end of the support member 11 in a second direction, and the second upright column 2112 is slidably held at the other end of the support member 11 in a second direction.

[0070] Referring to Figure 3, the frame 211 is roughly U-shaped and is also called a portal frame. The first vertical column 2111 and the second vertical column 2112 of the portal frame are mounted parallel to each other, and the first vertical column 2111, the second vertical column 2112 and the connecting vertical column 2113 may be a single unit or may be welded or bolted together.

[0071] Referring to Figures 2 to 4, the first drive unit 2121 is specifically a motor. The first drive unit 2121 is attached to either the first column 2111, the second column 2112, or the connecting column 2113, and in each embodiment of this application, the first drive unit 2121 is attached to the connecting column 2113 as an example. The first drive unit 2121 is attached to the intermediate position in the longitudinal direction of the connecting column 2113 (see Figure 4). The first transmission mechanism 2122 is fixedly connected to the power output shaft of the first drive unit 2121 and converts the rotation of the first drive unit 2121 into the linear movement of the first connecting member 2123. Each first connecting member 2123 is connected to the first drive unit 2121 via the first transmission mechanism 2122 and moves linearly along the second direction by the drive of the first drive unit 2121.

[0072] Referring to Figures 3 and 4, the first transmission mechanism 2122 specifically includes a first gear 2122a, a first rack 2122b, and a second rack 2122c. The first gear 2122a is fixedly connected to the output shaft of the first drive unit 2121. The first rack 2122b meshes with the first gear 2122a. The second rack 2122c meshes with the first gear 2122a and is positioned parallel to the first rack 2122b. One of the first connecting members 2123 is fixedly connected to the first rack 2122b, and another second connecting member is fixedly connected to the second rack 2122c.

[0073] When the first gear 2122a rotates in one direction, the first rack 2122b and the second rack 2122c move closer to each other, the two first connecting members 2123 move closer to each other, and the two gripping parts 22 move closer to each other. When the first gear 2122a rotates in the opposite direction, the first rack 2122b and the second rack 2122c move apart from each other, the two first connecting members 2123 move apart from each other, and the two gripping parts 22 move apart from each other. The first connecting member 2123 is specifically a vertical plate. The top of the first connecting member 2123 is fixedly connected to the first rack 2122b and the second rack 2122c, and the bottom of the first connecting member 2123 is fixedly connected to the gripping part 22. The gripping part 22 and the first connecting member 2123 move in a linear motion in synchronous motion.

[0074] One of the first rack 2122b and the second rack 2122c is located above the first gear 2122a, and the other is located below the first gear 2122a. A single first gear 2122a can drive both the first rack 2122b and the second rack 2122c, resulting in a very compact structure with high synchronous performance.

[0075] Referring to Figures 3 and 4, in some embodiments, to make the linear movement of the two gripping sections 22 more accurate and less prone to shaking, the first transmission mechanism 2122 further includes a pair of first guide sections 2122d. The first guide sections 2122d are fixedly attached to the connecting column 2113, and each first guide section 2122d is arranged in parallel along the direction of movement of the first rack 2122b, with the first gear 2122a located between the pair of first guide sections 2122d. Taking the direction shown in Figure 4 as an example, one first guide section 2122d is located to the left of the first gear 2122a, and the other first guide section 2122d is located to the right of the first gear 2122a. One first connecting member 2123 is slidably attached to one first guide portion 2122d, and the other first connecting member 2123 is slidably attached to the other first guide portion 2122d. Specifically, a recess is provided on the top of the first connecting member 2123, and a corresponding protrusion is provided on the first guide portion 2122d, and the recess and protrusion work together to guide the linear motion of the first connecting member 2123.

[0076] Since the movement of the gripping portion 22 and the movement of the first connecting member 2123 are synchronized, the first connecting member 2123 moves precisely in a linear motion in the Y direction, which stabilizes the Y-direction movement of the gripping portion 22, making it less prone to shaking, and thus resulting in a more stable and reliable grip on the cargo 400.

[0077] The following describes how the gripping mechanism 2 achieves linear movement, and how the second block member 32 and the first block member 31 switch states.

[0078] The first block member 31 switches its position by achieving rotation through the second drive unit 33 and the second transmission mechanism 34. The gripping mechanism 2 achieves linear movement through the third drive unit 23 and the third transmission mechanism 24. The second block member 32 switches its position through the fourth drive unit 35 and the fourth transmission mechanism 36.

[0079] Referring to Figures 1 to 3 and Figure 5, the switching of the state of the first block member 31 is related to whether the gripping portions 22 can move closer to each other, so first, the method for switching the state of the first block member 31 will be explained.

[0080] In some embodiments, the block mechanism 3 further includes a second drive unit 33 and a second transmission mechanism 34. The second drive unit 33 is attached to the first upright column 2111, the second upright column 2112, or the connecting upright column 2113. In some embodiments, the second drive unit 33 is attached to the connecting upright column 2113 as an example. The second transmission mechanism 34 is driven and connected to the second drive unit 33 and rotates as driven by the second drive unit 33. The first block member 31 is attached to the second transmission mechanism 34 and rotates in a third direction as the second transmission mechanism 34 rotates.

[0081] Figure 3 shows the rotation direction W of the first block member 31. In the state shown in Figure 3, the first block member 31 is positioned between the pair of gripping parts 22, and in this state the distance between the two gripping parts 22 is at its maximum, and the block of the first block member 31 prevents the two gripping parts 22 from getting closer.

[0082] The state shown in Figure 5 is when the first block member 31 is rotated to a position away from the Y-direction motion trajectory of the two gripping parts 22. First, the first block member 31 is lifted, and then the distance between the two gripping parts 22 is reduced to obtain the state of the two gripping parts 22 shown in Figure 5. Note that the movement of the entire gripping mechanism 2 in the X-direction is realized by the third drive unit 23 and the third transmission mechanism 24, which will be explained in detail later. The main point here is to explain the movement of the two gripping parts 22 moving closer to each other and the state in which the first block member 31 is lifted.

[0083] Referring to Figures 1, 3, and 5, in some embodiments, the second drive unit 33 is, for example, specifically a motor, and the second drive unit 33 is fixed to the connecting post 2113. The second transmission mechanism 34 includes an output shaft gear 340, a pair of second gears 341, a pair of semi-gears 342, and a connecting shaft 343. The output shaft gear 340 is fixedly connected to the output shaft of the second drive unit 33, and the two second gears 341 are arranged in a distributed manner, and the two second gears 341 are fixedly connected to the first post 2111 and the second post 2112, respectively, or fixedly mounted at different positions on the connecting post 2113. One of the second gears 341 meshes with the output shaft gear 340. The second gear 341 rotates together with the power output shaft of the second drive unit 33 via the output shaft gear 340. The connecting shaft 343 is fixedly connected to either a pair of semi-gears 342 or two second gears 341. One semi-gear 342 meshes with a second gear 341 and rotates under the drive of the second gear 341. One end of the first block member 31 is fixedly connected to one semi-gear 342, and the other end of the first block member 31 is fixedly connected to the other semi-gear 342.

[0084] Since the first block member 31 (see Figure 3) does not need to rotate and only needs to move to a position where it is in close contact with the support member 11 and away from the Y-direction motion trajectory of the two gripping parts 22, the rotational needs of the first block member 31 can be met by using the semi-gear 342. When the first block member 31 is in close contact with the support member 11, the first block member 31 is positioned between the two gripping parts 22, and the distance between the two gripping parts 22 in the Y-direction is maximized.

[0085] Referring to Figure 3, in some embodiments, the second transmission mechanism 34 further includes a pair of third connecting members 344 to facilitate the connection of the semi-gears 342 to the first block member 31. The third connecting members 344 correspond one-to-one with the semi-gears 342 and are fixedly connected. Each semi-gear 342 is fixedly connected to one third connecting member 344, specifically a bolt connection can be employed. The third connecting member 344 is specifically, for example, an L-shaped plate. A first screw hole is provided on the end face of each semi-gear 342, and a corresponding second screw hole is provided on the third connecting member 344, and the semi-gears 342 and the third connecting member 344 are fixedly connected by passing a bolt through the first and second screw holes. One end of the first block member 31 in the second direction is fixedly connected to one of the third connecting members 344, and the other end of the first block member 31 in the second direction is fixedly connected to the other third connecting member 344. When the first block member 31 rotates, it rotates around the central axis of the semi-gear 342. Because there are fixed positions at both ends of the first block member 31, the reliability of the rotation is higher.

[0086] Referring to Figures 1 to 5, the following will describe how the gripping mechanism 2 moves linearly along the X direction relative to the support member 11.

[0087] In some embodiments, the gripping mechanism 2 further includes a third drive unit 23 and a third transmission mechanism 24. The third drive unit 23 is specifically, for example, a motor. As shown in Figure 2, the third drive unit 23 is fixedly attached to the bottom of the support member 11 and is located at the end of the support member 11 where the second block member 32 is not installed. The third transmission mechanism 24 is driven to the third drive unit 23 and fixedly connected to the sliding mechanism. The sliding mechanism moves linearly along the first direction in conjunction with the third transmission mechanism 24 by the drive of the third drive unit 23.

[0088] The third transmission mechanism 24 can be implemented in several ways, for example, by using a linear guide rail mechanism, a belt, a chain, etc., to convert the rotation of the third drive unit 23 into the linear motion of the sliding means.

[0089] In the above technical solution, by arranging the third drive unit 23 and the third transmission mechanism 24 at the bottom of the support member 11, the support area at the top of the support member 11 is not occupied, allowing the cargo access mechanism to take out and place more cargo 400, and resulting in a more rational structure.

[0090] Referring to Figure 2, in some embodiments, a third transmission mechanism 24 includes a first guide rail 240, a second guide section 241, a pulley 242, and a first belt 243, in order to allow the gripping mechanism 2 to move more accurately and stably relative to the support member 11 and to prevent shaking. The first guide rail 240 is fixedly mounted on the support base 1, and there may be two first guide rails 240. The two first guide rails 240 are distributed on both sides of the support base 1. The second guide section 241 corresponds one-to-one with the first guide rail 240, and the second guide section 241 is slidably mounted on the first guide rail 240. A sliding means 21 is fixedly mounted on the second guide section 241. The second guide section 241 is specifically a slider, and the second guide section 241 moves along the length direction (along the X direction) of the first guide rail 240. The pulley 242 is fixedly connected to the output shaft of the third drive unit 23. The first belt 243 is attached to the bottom of the support base 1 and meshes with the pulley 242. The sliding mechanism 21 is fixedly connected to the first belt 243.

[0091] When the third drive unit 23 rotates, the pulley 242 rotates synchronously, and the first belt 243, which meshes with the pulley 242, rotates. Since the sliding mechanism 21 is fixedly connected to the first belt 243, the sliding mechanism 21 moves linearly in conjunction with the rotation of the first belt 243. Since the sliding mechanism 21 is also connected to the second guide part 241, the sliding mechanism 21 moves linearly along the first guide rail 240 due to the guiding action of the second guide part 241 and the first guide rail 240, that is, linearly along the X direction, thereby enabling the sliding mechanism 21 to move in and out of the support member 11.

[0092] Referring to Figures 1 to 6, the method by which the second block member 32 switches its position will be explained below.

[0093] In some embodiments, the block mechanism 3 further includes a fourth drive unit 35 and a fourth transmission mechanism 36. The fourth drive unit 35 is attached to the support member 11. The fourth transmission mechanism 36 is driven to the fourth drive unit 35. Here, the second block member 32 is rotatably attached to one end of the support member 11 in a first direction, and the fourth drive unit 35 is driven to the second block member 32 so as to switch the second block member 32 between an upright position and a horizontal position.

[0094] Figures 1 to 3 show the second block member 32 in a horizontal position, and Figure 6 shows the second block member 32 in an upright position. The upright position is also called the lifted position.

[0095] The fourth drive unit 35 may specifically be a motor. The fourth transmission mechanism 36 converts the rotation of the fourth drive unit 35 into the rotation of the second block member 32. The fourth transmission mechanism 36 can take various forms, for example, by using a gear drive, a crank linkage mechanism, etc.

[0096] Referring to Figures 1 to 3, and particularly Figure 2, in some embodiments the fourth transmission mechanism 36 includes a link 360 and a crank 361. One end of the crank 361 is fixedly connected to the power output shaft of the fourth drive unit 35, and the other end of the crank 361 is rotatably connected to one end of the link 360. The other end of the link 360 is rotatably connected to the second block member 32. Here, the fourth drive unit 35 is located at the bottom of the support member 11, and the crank 361 and link 360 are also located at the bottom of the support member 11.

[0097] When the fourth drive unit 35 rotates, the other end of the crank 361 is lifted, and the second block member 32, which is rotatably connected to the other end of the crank 361, rotates around the rotatable connection between the second block member 32 itself and the support member 11, thereby lifting the second block member 32. The lifted second block member 32 is as shown in Figure 6. When the second block member 32 is lifted, it acts as a block, making it difficult for the cargo 400 on the support member 11 to fall.

[0098] Continuing to refer to Figure 3, in some embodiments, the cargo access mechanism further includes a restricting device 4. Specifically, the restricting device 4 is a block structure. The restricting device 4 is mounted on the upper surface of the support member 11 and is located at the end of the support member 11 away from the second block member 32.

[0099] Continuing to refer to Figure 3, in some embodiments, the first block member 31 is provided with a accommodating groove 311 in order to avoid the restricting device 4. Here, when the first block member 31 is in the first limit position, the restricting device 4 is located within the accommodating groove 311 (as shown in Figure 3).

[0100] The above describes the two limit positions (first limit position and second limit position) of the first block member 31 and the two states (upright state and flat state) of the second block member 32. By combining this with the regulating device 4 described here, the cargo access mechanism can realize multiple types of operating states.

[0101] Depending on whether cargo 400 is moved to the cargo access mechanism (i.e., cargo retrieval operation) or moved out of the cargo access mechanism, cargo 400 can be divided into two states: the picking state and the unloading state. Depending on whether cargo 400 is regular cargo or irregular cargo, the cargo access mechanism has four states: picking state for regular cargo, unloading state for regular cargo, picking state for irregular cargo, and unloading state for irregular cargo.

[0102] The picking state for regular cargo refers to the state in which a regular-shaped cargo 400 is moved from outside the cargo access mechanism to the cargo access mechanism. In the picking state for regular cargo, the first block member 31 does not need to function and is in the second limit position, and the first block member 31 is lifted to avoid the gripping parts 22 so that it can grip the cargo 400 when the gripping parts 22 are closed along the second direction. Along the first direction, the first block member 31 is located on the side of each gripping part 22 away from the second block member 32. In the second direction, the first block member 31 is away from the motion trajectory of the gripping parts 22, and the gripping parts 22 can open and close freely in the second direction. The second block member 32 is in a flat position, and the gripping portion 22 moves along the first direction in conjunction with the sliding means 21, extending from the support base 1, and the gripping portion 22 closes along the second direction to grip the cargo 400 located outside the support member 11.

[0103] The unloading process for standard cargo is as follows:

[0104] The gripping part 22 moves in a first direction with the sliding mechanism 21 so as to extend from the support member 11. Then, the gripping part 22 closes in a second direction to grip the target cargo 400. Next, the gripping part 22 is pulled in along the first direction with the sliding mechanism 21 towards the support member 11, thereby transporting the cargo 400 to the support member 11. Then, the gripping part 22 opens in a second direction to release the cargo 400, leaving the cargo 400 on the support member 11. By repeating this operation, the next cargo 400 can be picked. If the next cargo 400 comes into contact with the previous cargo 400 as it returns to the first direction with the gripping part 22, it pushes the previous cargo 400 further back in the first direction. In other words, each time cargo 400 is picked, it is not necessary to place the picked cargo 400 in the innermost position on the support member 11, as the next cargo 400 automatically pushes the previous cargo 400 back.

[0105] The unloading state of regular cargo refers to moving regularly shaped cargo 400 out of the cargo access mechanism. In this state, if there is one cargo 400, it can be unloaded by gripping or pushing with the first block member 31. If there are multiple cargo 400s, the first block member 31 can be used to push all the cargo 400s out of the support member 11 at once.

[0106] When unloading is performed using the gripping method, the first block member 31 is in the second limit position, meaning the first block member 31 is lifted. Also, along the first direction, the first block member 31 is located on the side of each gripping part 22 away from the second block member 32. In the second direction, the first block member 31 is outside the motion trajectory of the gripping part 22. The second block member 32 is in a flat position. The gripping part 22 closes in the second direction to grip the cargo 400 on the support member 11. The gripping part 22 moves in the first direction with the sliding means 21 so as to extend from the support base 1, and carries the gripped cargo 400 off the support member 11.

[0107] The specific operation process when unloading using the gripping method is as follows:

[0108] The first block member 31 does not need to function, and the gripping portion 22 closes in the second direction, gripping the cargo 400 on the support member 11. The gripping portion 22 then moves in the first direction with the sliding means 21, carrying the cargo 400 off the support member 11. The unloaded cargo 400 is sent to the packaging machine 200 for packaging or stored in the target position in the first storage area 1001 of the pharmaceutical cabinet 100.

[0109] When unloading is performed using the push-out method, the procedure is as follows: The first block member 31 is in the first limit position. Along the first direction, the first block member 31 in the first limit position is located between the restricting device 4 and the second block member 32 which is in a horizontal position, and the first block member 31 is located between the pair of gripping parts 22. The first block member 31 moves in the first direction with the sliding means 21, pushing the cargo 400 on the support member 11 out of the support member 11. In this mode, the gripping parts 22 do not need to move in the second direction, and the unloading operation is performed mainly by pushing out the cargo 400 by moving the first block member 31 in the first direction.

[0110] The specific operation process when unloading using the push-out method is as follows: The gripping part 22 does not need to move in the second direction, but adjusts the first block member 31 to the first limit position and avoids the restricting device 4. Then, the first block member 31 moves in the first direction together with the sliding means 21, pushing the cargo 400 on the support member 11 out of the support member 11. This operation allows all the cargo 400 on the support member 11 to be pushed out at once. Alternatively, only some of the cargo 400 on the support member 11 can be pushed out as needed, depending on when the first block member 31 is adjusted to the first limit position.

[0111] The picking state for irregularly shaped cargo refers to moving irregularly shaped cargo 400 from outside the cargo access mechanism to the cargo access mechanism. In this state, the first block member 31 is in the first limit position, and the second block member 32 is in the upright position. In the first direction, the regulating device 4 is positioned between the first block member 31 in the first limit position and the upright second block member 32. In the second direction, the first block member 31 is between the pair of gripping parts 22. This forms an open-top storage box 1000 between the first block member 31, the second block member 32, and the pair of gripping parts 22. The irregularly shaped cargo 400 stored in the second storage area 1002 of the chemical cabinet 100 is transported to the end by the conveyor lane 1003 (described later), and the cargo 400 falls into the open-top storage box 1000 by its own gravity. This enables the picking operation of the irregularly shaped cargo 400.

[0112] The operation process for picking irregularly shaped cargo is as follows: The first block member 31 is adjusted to the first limit position, and the second block member 32 is adjusted to the upright position. After the first block member 31, the second block member 32, and the pair of gripping parts 22 form an open storage box 1000, the entire cargo access mechanism is moved to the cargo drop position on the corresponding conveyor lane 1003. The cargo 400 is carried to the end of the conveyor lane 1003 using the conveyor lane 1003, and the cargo 400 falls into the storage box 1000 due to inertia and gravity. Of course, it is also possible to move the entire cargo access mechanism to the cargo drop position on the corresponding conveyor lane 1003 first, and then form the storage box 1000.

[0113] The unloading state of irregularly shaped cargo refers to moving irregularly shaped cargo 400 out of the cargo access mechanism. The unloading state of irregularly shaped cargo is the same as the unloading operation for regularly shaped cargo. In the unloading state of irregularly shaped cargo, the first block member 31 is in the first limit position. In the first direction, the first block member 31 is positioned between the restricting device 4 and the second block member 32 which is in a horizontal position. Alternatively, the first block member 31 in the first limit position houses the restricting device 4 through its own storage groove 311, and the first block member 31 and the restricting device 4 are connected. This is the situation shown in Figure 3.

[0114] In the unloaded state of the irregularly shaped cargo, the first block member 31 is positioned between the pair of gripping portions 22 along the second direction. The first block member 31 moves in the first direction with the sliding means 21, pushing the cargo 400 on the support member 11 out of the support member 11.

[0115] The operation process for unloading irregularly shaped cargo is as follows:

[0116] The gripping portion 22 does not need to act in the second direction, but adjusts the first block member 31 to the first limit position, avoiding the restricting device 4. Then, the first block member 31 moves in the first direction with the sliding means 21, pushing the cargo 400 on the support member 11 out of the support member 11. This operation allows all the cargo 400 on the support member 11 to be pushed out at once. Alternatively, only some of the cargo 400 on the support member 11 can be pushed out as needed.

[0117] In the unloading state of regular cargo and irregularly shaped cargo, the unloaded cargo 400 is sent to the subsequent packaging machine 200 for packaging, and then sent to the delivery locker 300 for storage.

[0118] The cargo access mechanism provided by the above technical proposal has multiple operating states. In the picking operation of regularly shaped cargo 400, the gripping part 22 can be used to grip it. In the unloading operation of a single regularly shaped cargo 400, the gripping part 22 can also be used to grip it. In the case of multiple regularly shaped cargo 400, the first block member 31 can be used to push out all the cargo 400, resulting in high unloading efficiency. In the case of irregularly shaped cargo 400, the cargo access mechanism forms a storage box 1000 with an open top, and uses an external force (specifically, a conveyor lane 1003, etc.) to move the irregularly shaped cargo 400 into the storage box 1000 to achieve picking. Furthermore, because there are blocks around the storage box 1000, the irregularly shaped cargo 400 is also firmly placed on the support member 11, making it difficult for cargo 400 of any shape to fall, and thus highly reliable. The above cargo access mechanism can be applied to cargo 400 of regular and irregular shapes, enabling picking and unloading operations, and has multiple operating modes, making it more functional.

[0119] Refer to Figures 7 and 8. When the gripping section 22 grips the next cargo 400, the pushing of the next gripped cargo 400 pushes the previous cargo 400 to the end of the support member 11 furthest from the second block member 32. If there is a sufficient amount of cargo 400 on the support member 11, without the blocking action of the restricting device 4, the cargo 400 may be pushed out from the other end of the support member 11. On the other hand, since the first block member 31 swings, if the cargo 400 is in the swing path of the first block member 31, the first block member 31 cannot swing properly and the position change cannot be achieved properly. Therefore, the above situation can be avoided by setting the restricting device 4. Multiple restricting devices 4 can be set, and multiple restricting devices 4 are distributed in the Y direction to better limit the limit position where the cargo 400 moves on the support member 11.

[0120] Figure 9 is a schematic perspective view of a cargo access robot according to some embodiments of this publication. Figure 10 is another schematic perspective view of a cargo access robot according to some embodiments of this publication.

[0121] Refer to Figures 1, 2, 9, and 10. Several embodiments of this publication further provide a cargo access robot 500. The cargo access robot 500 includes a carriage arm 5 and a cargo access mechanism provided by any of the technical proposals of this publication. The cargo access mechanism is rotatably mounted on the carriage arm 5.

[0122] The carriage arm 5 is used to mount a cargo access mechanism, which rotates relative to the carriage arm 5, allowing access to the cargo 400 from different directions.

[0123] Refer to Figures 2, 9, and 10. In some embodiments, the cargo access robot further includes a fifth drive unit 6 and a fifth transmission mechanism 7. The fifth drive unit 6 is mounted on the carriage arm 5. The fifth transmission mechanism 7 is driven and connected to the fifth drive unit 6, and the fifth transmission mechanism 7 is fixedly connected to the cargo access mechanism, causing the cargo access mechanism to rotate by the drive of the fifth drive unit 6.

[0124] The fifth drive unit 6 is, for example, a motor, and the fifth transmission mechanism 7 converts the rotation of the motor into the rotation of the cargo access mechanism. The fifth transmission mechanism 7 can be implemented in several ways, such as a gear mechanism or a rotating base.

[0125] Please continue to refer to Figures 2, 9, and 10. In some embodiments, the fifth transmission mechanism 7 includes a third gear 71 and a fourth gear 72. The third gear 71 is fixedly connected to the power output shaft of the fifth drive unit 6. The third gear 71 is mounted on the carriage arm 5. The fourth gear 72 is mounted on the bottom of the support base 1 and meshes with the third gear 71.

[0126] The fifth transmission mechanism 7 in the above implementation method is located at the bottom of the support member 11 and does not occupy the space above the support member 11. Furthermore, the fifth transmission mechanism 7 achieves rotation using gear meshing and can precisely control the rotation angle and rotation timing.

[0127] Please continue to refer to Figures 9 and 10. In some embodiments, the cargo access robot further includes a support column 8, a sixth drive unit 9, and a sixth transmission mechanism 10. The sixth drive unit is mounted on the support column 8. The sixth transmission mechanism 10 is driven and connected to the sixth drive unit 9, and the sixth transmission mechanism 10 is fixedly connected to the carriage arm 5, causing the cargo access mechanism to move along the support column 8 by the drive of the sixth drive unit 9.

[0128] The support column 8 is, for example, a vertical rail, and the cargo access mechanism is raised and lowered by moving along the support column 8.

[0129] In some embodiments, the sixth transmission mechanism 10 includes a first timing pulley 101, a second timing pulley 102, a timing belt (not shown), a second guide rail 104, and a third guide section (not shown). The first timing pulley 101 is mounted on one end of the support column 8. The first timing pulley 101 is fixedly connected to the power output shaft of the sixth drive unit 9. The second timing pulley 102 is mounted on the other end of the support column 8. The timing belt is tensioned by the first timing pulley 101 and the second timing pulley 102. The cargo access mechanism is fixedly attached to the timing belt and moves up and down with the rotation of the timing belt. The second guide rail 104 is mounted on the support column 8, and a third guide section (specifically a slider) is slidably mounted on the second guide rail, and the cargo access mechanism is fixedly attached to the third guide section.

[0130] The first timing pulley 101, the second timing pulley 102, and the timing belt are used to achieve the lifting and lowering motion of the cargo access mechanism, and the second guide rail 104 and the third guide section make the lifting and lowering motion of the cargo access mechanism smoother.

[0131] Refer to Figures 9 and 10. In some embodiments, the cargo access robot further includes a travel mechanism 12. The travel mechanism 12 is attached to a support column 8, causing the support column 8 to travel inside the chemical cabinet 100.

[0132] The cargo access robot is installed inside the pharmaceutical cabinet 100, and a travel rail is installed inside the pharmaceutical cabinet 100. The entire cargo access robot can travel along the travel rail. The travel rail is, for example, a horizontal rail.

[0133] Figure 11 is a schematic perspective view of a cargo access system according to some embodiments of this publication. Figure 12 is another schematic perspective view of a cargo access system according to some embodiments of this publication. Figure 13 is yet another schematic perspective view of a cargo access system according to some embodiments of this publication.

[0134] Please refer to Figures 11-14. Several embodiments of this publication further provide cargo access systems. These systems include cargo access robots provided by any of the technical proposals in this publication.

[0135] In some embodiments, the cargo access system further includes a pharmaceutical cabinet 100. The pharmaceutical cabinet 100 includes a first storage area 1001 and a second storage area 1002. The first storage area 1001 is configured for a cargo access robot to grasp and access cargo 400. The second storage area 1002 is configured for dropping cargo 400 to the cargo access robot.

[0136] The first storage area 1001 is used to store goods 400 of a regular shape, and the second storage area 1002 is used to store goods 400 of an irregular shape. The first storage area 1001 employs a shelf-type storage structure. The second storage area 1002 transports goods 400 using methods such as active lanes and conveyor lanes, and the goods are stored directly on the active lanes and conveyor lanes within the second storage area 1002. After the goods 400 are placed in the second storage area 1002, they are automatically discharged from the second storage area 1002 by transport on the active lanes and conveyor lanes.

[0137] Figure 14 is a schematic diagram of the conveyor lane configuration. The conveyor lane 1003 includes one or more conveyor belts 1003a, each conveyor belt 1003a containing one or more belts. Each conveyor belt 1003a is arranged in parallel and side by side. Each conveyor belt 1003a is driven independently, does not interfere with each other, and operates independently. Two adjacent conveyor belts 1003a are separated by a partition plate 1003b to facilitate the storage of irregular cargo 400. When it is necessary to replenish cargo in the conveyor lane 1003, irregular cargo 400 is manually placed on the conveyor belts 1003a. When the cargo access robot needs to retrieve cargo from the second storage area 1002, it activates the conveyor belt 1003a on which the cargo to be retrieved is located. The conveyor belt 1003a carries the irregular cargo 400 to the end of the conveyor belt 1003a, and the irregular cargo 400 falls into the storage box 1000 formed by the access robot. Because there are blocks around the storage box 1000, the irregular cargo 400 stays firmly inside the storage box 1000 and is less likely to fall out.

[0138] The cargo access robot can store cargo 400 in the first storage area 1001, retrieve cargo 400 from the first storage area 1001, and receive cargo 400 dropped from the second storage area 1002. The cargo access robot has a wide range of operating modes.

[0139] Please continue to refer to Figures 11 to 13. In some embodiments, the cargo access system further includes a packaging machine 200. The packaging machine 200 is located downstream of the pharmaceutical cabinet 100 to package the cargo 400 that the cargo access robot has taken out of the pharmaceutical cabinet 100.

[0140] The above technical proposal enables automated picking and packaging, resulting in a highly intelligent cargo access system and high operational efficiency.

[0141] In some embodiments, the cargo access system further includes a parcel locker 300. The parcel locker 300 is located downstream of the packaging machine 200 to store the cargo 400 that the packaging machine 200 has packaged.

[0142] Specifically, by combining the four states of the cargo access mechanism described above (picking state for regular cargo, unloading state for regular cargo, picking state for irregularly shaped cargo, and unloading state for irregularly shaped cargo), and considering the relationship between the cargo access mechanism and the chemical cabinet 100, and focusing on the cargo access mechanism as the main subject of description, the following can be obtained.

[0143] The picking state for regular cargo is when cargo 400 is taken out from the first storage area 1001 to the support member 11 of the cargo access mechanism by the cargo access mechanism.

[0144] The unloading state of a standard cargo is defined as the cargo 400 being pushed out from the support member 11 by the cargo access mechanism, or being gripped and removed from the support member 11. The unloaded cargo 400 is then dropped into the downstream packaging machine 200 so that automatic packaging can be performed.

[0145] The picking state for irregularly shaped cargo is when cargo 400 is actively transported from the second storage area 1002 and falls into the storage box 1000 formed by the cargo access mechanism.

[0146] The unloading state of irregularly shaped cargo is when the cargo 400 is pushed out from the support member 11 by the cargo access mechanism. The delivered cargo 400 is then dropped into the downstream packaging machine 200 so that automatic packaging can be performed.

[0147] Focusing primarily on the pharmaceutical cabinet 100, the cargo access system has the following functions: 1. Regular cargo 400 is stored in the first storage area 1001 of the pharmaceutical cabinet 100. Specifically, a cargo access robot retrieves cargo 400 from the pharmaceutical dispenser, the gripping section 22 of the cargo access mechanism grips cargo 400 from the pharmaceutical dispenser, and the gripped cargo 400 is placed on the support member 11 of the cargo access mechanism. The cargo access robot then moves the cargo access mechanism to the target position in the first storage area 1001 of the pharmaceutical cabinet 100. The gripping section 22 of the cargo access mechanism grips cargo 400 on the support member 11 of the cargo access mechanism and places it in the target position in the first storage area 1001. 2. Regular cargo 400 is removed from the first storage area 1001 of the pharmaceutical cabinet 100. First, the first block member 31 of the cargo access mechanism is adjusted to the second limit position, and the gripping part 22 is extended to the target position in the first storage area 1001 of the pharmaceutical cabinet 100. The gripping part 22 is closed to remove the cargo 400 from the target position in the first storage area 1001. The removed cargo 400 is carried to the support member 11 of the cargo access mechanism by the gripping part 22 moving along the first direction. The cargo 400 removed from the pharmaceutical cabinet 100 is sent to the packaging machine 200, which will be described later, and after the packaging machine 200 packages the cargo 400, it is sent to the delivery locker 300, which will be described later. 3. Store the irregular cargo 400 in the second storage area 1002 of the chemical cabinet 100. Specifically, manually place the irregular cargo 400 in the second storage area 1002 of the chemical cabinet 100. 4. The irregularly shaped cargo 400 is removed from the second storage area 1002 of the pharmaceutical cabinet 100. First, the cargo access mechanism is adjusted to the picking state for irregularly shaped cargo, and then the conveyor lane corresponding to the target cargo in the second storage area 1002 is activated. The conveyor lane carries the cargo 400 out of the second storage area 1002 of the pharmaceutical cabinet 100, and the cargo 400 falls into the storage box 1000 of the cargo access mechanism by gravity. The removed cargo 400 is then transported by the cargo access mechanism to the packaging machine 200, and the cargo access mechanism switches to the unloading state for irregularly shaped cargo, and the first block member 31 pushes the irregularly shaped cargo 400 into the packaging machine 200. The packaged cargo 400 is sent to the delivery locker 300 for storage.

[0148] The above technical proposal enables the automatic storage of cargo 400 in delivery lockers 300 after packaging, resulting in a highly intelligent cargo access system and high operational efficiency.

[0149] See Figure 15. Several embodiments of this publication further provide methods for receiving and dispatching goods. These methods can be implemented using the cargo access systems provided by any of the above technical proposals. The methods for receiving and dispatching goods include the following steps:

[0150] In step S100, the cargo access system determines whether to pick or unload.

[0151] The cargo access robot in the cargo access system determines whether to perform a picking operation or an unloading operation based on the instructions it receives.

[0152] In step S200, when the cargo access system performs picking, it determines whether the shape of the cargo 400 to be picked is consistent with the standard.

[0153] Regularly shaped cargo 400 is stored in the first storage area 1001, and irregularly shaped cargo 400 is stored in the second storage area 1002. Different shaped cargo 400 correspond to different picking operations.

[0154] In step S300, if the shape of the cargo 400 is regular, the cargo access mechanism is adjusted to the picking state for regular cargo.

[0155] When the cargo access mechanism is in a picking state for regular cargo, the first block member 31 is in a second limit position, and the first block member 31 is lifted to avoid the gripping section 22, so that the gripping section 22 can grip the cargo 400 when it closes in a second direction. In the first direction, the first block member 31 is located on the side of each gripping section 22 away from the second block member 32. In the second direction, the first block member 31 is outside the motion trajectory of the gripping section 22, and the gripping section 22 can open and close freely in a second direction. The second block member 32 is in a flat position. The gripping section 22 moves in a first direction with the sliding means 21 so as to extend from the support base 1. The gripping section 22 closes in a second direction to grip the cargo 400 outside the support member 11.

[0156] All boxed or bottled pharmaceuticals are regular-shaped cargo. The cargo access mechanism moves to the cargo storage position on the target shelf. Based on the actual distance to the pharmaceutical dispenser closest to the detected target storage position, and according to the width of the pharmaceutical recorded in the system, the cargo access mechanism adjusts the width of its gripping section to a width that can extend into the gap in the storage position, and extends to the target pharmaceutical according to the detected actual distance. Then, by adjusting the width of the two gripping sections to a distance that firmly grips the cargo and pulling the gripping sections back, the cargo is picked up by the support member 11. The cargo access mechanism can pick up one pharmaceutical at a time or multiple identical pharmaceuticals in the same storage position in the same row. The cargo that is picked up first is pushed inward by the cargo that is picked up later. In the case of cargo of different dimensions, the cargo is picked up in order from the narrowest to the widest to prevent the pharmaceutical temporarily placed on the support member 11 from affecting the width adjustment of the gripping section 22.

[0157] In step S400, the gripping mechanism 2 of the cargo access mechanism extends to grip the cargo 400. The cargo 400 is brought into the support member 11 by moving the gripping mechanism 2, which is gripping the cargo 400, along the first direction.

[0158] In step S400 described above, specifically, the gripping portion 22 moves along the first direction in conjunction with the sliding means 21 and extends from the support member 11. Then, the gripping portion 22 closes along the second direction to grip the target cargo 400. Subsequently, the gripping portion 22 is pulled back to the support member 11 along the first direction in conjunction with the sliding means 21, thereby transporting the cargo 400 to the support member 11. Then, the gripping portion 22 unfolds along the second direction, releasing the cargo 400, which remains on the support member 11. By repeating the above operation, the next cargo 400 can be retrieved. When the next cargo 400 is pulled back along the first direction in conjunction with the gripping portion 22 and hits the previous cargo 400, the previous cargo 400 is further pushed back along the first direction. In other words, each time a cargo 400 is removed, it is not necessary to place the removed cargo 400 in the innermost position of the support member 11; the next cargo 400 automatically pushes back the previous cargo 400.

[0159] In some embodiments, the method for receiving and shipping goods further includes the following steps:

[0160] Step S500: If the shape of cargo 400 is irregular, the cargo access mechanism of the cargo access system is adjusted to the picking state for irregularly shaped cargo.

[0161] When the cargo access mechanism is in the picking state for irregularly shaped cargo, as shown in Figure 6, it corresponds to the retrieval operation of irregularly shaped cargo 400. In this state, the first block member 31 is in the first limit position, and the second block member 32 is in the upright position. Viewed along the first direction, the restricting device 4 is located between the first block member 31 in the first limit position and the second block member 32 in the upright position. Viewed along the second direction, the first block member 31 is located between the pair of gripping parts 22. This forms a storage box 1000 with an open top between the first block member 31, the second block member 32, and the pair of gripping parts 22.

[0162] Step S600 places cargo 400 into storage box 1000 formed by the cargo access mechanism.

[0163] In step S600 described above, the irregularly shaped cargo 400 stored in the second storage area 1002 of the chemical cabinet 100 is transported to the end by the conveyor lane 1003, and the cargo 400 falls into a storage box 1000 with an open top due to its own gravity, thereby enabling the retrieval of the irregularly shaped cargo 400.

[0164] In some embodiments, the method for receiving and dispatching goods further includes the following steps: Step S700: When the cargo access system unloads, it determines whether the shape of the cargo 400 to be retrieved is regular.

[0165] Step S800: If the shape of cargo 400 is a regular shape, adjust the cargo access mechanism of the cargo access system to the unload state for regular cargo.

[0166] As explained above, the unloaded state of regular cargo refers to the state in which regular-shaped cargo 400 is moved from the cargo access mechanism to the outside of the cargo access mechanism. In this state, if there is only one cargo 400, it can be unloaded by gripping it or pushing it out with the first block member 31. If there are multiple cargo 400s, all of the cargo 400s can be pushed out of the support member 11 at once using the first block member 31.

[0167] Step S900 pushes the cargo 400 out of the support member 11 of the cargo access mechanism, or clamps the cargo 400 out of the support member 11.

[0168] When unloading by gripping, the first block member 31 is in the second limit position, i.e., the first block member 31 is lifted. Along the first direction, the first block member 31 is located on the side of each gripping part 22 away from the second block member 32. In the second direction, the first block member 31 is away from the motion trajectory of the gripping part 22. The second block member 32 is in a flat position, and the gripping part 22 closes along the second direction to grip the cargo 400 on the support member 11. The gripping part 22 moves along the first direction with the sliding means 21 so as to extend from the support base 1, carrying the gripped cargo 400 outside the support member 11.

[0169] The specific operation process for unloading by gripping is as follows: The first block member 31 does not need to function, and the gripping part 22 closes along the second direction to grip the cargo 400 on the support member 11. The gripping part 22 then moves along the first direction with the sliding means 21, carrying the cargo 400 outside the support member 11. The unloaded cargo 400 is transported to the packaging machine 200 for packaging or stored in the target storage location in the first storage area 1001 of the pharmaceutical cabinet 100.

[0170] When unloading cargo by pushing, the procedure is as follows: The first block member 31 is in a first limit position. Along the first direction, the first block member 31, in the first limit position, is positioned between the restricting device 4 and the second block member 32, which is in a horizontal position, and the first block member 31 is positioned between the pair of gripping parts 22. The first block member 31 moves along the first direction in conjunction with the sliding means 21, carrying the cargo 400 located on the support member 11 to the outside of the support member 11. In this configuration, the gripping parts 22 do not need to move along the second direction, and the cargo unloading operation is mainly performed by the first block member 31 moving along the first direction and pushing out the cargo 400.

[0171] The specific operation process when unloading cargo by pushing is as follows: The gripping part 22 does not need to move along the second direction, but adjusts the first block member 31 to the first limit position and avoids the restricting device 4. Then, the first block member 31 moves along the first direction with the sliding means 21 to push the cargo 400 on the support member 11 to the outside of the support member 11. Through the above operation, all the cargo 400 on the support member 11 can be pushed out at once. Alternatively, only some of the cargo 400 on the support member 11 can be pushed out as needed, depending on when the first block member 31 is adjusted to the first limit position.

[0172] In step S900 described above, the cargo 400 pushed out from the support member 11 is fed into the downstream packaging machine 200 for packaging. The squeezed cargo 400 has two destinations depending on different needs. The first is to be fed into the downstream packaging machine 200 for packaging. The second is to place the cargo 400 in the target storage position in the first storage area 1001 of the pharmaceutical cabinet 100.

[0173] For irregularly shaped cargo 400, the following cargo unloading operations are performed.

[0174] Specifically, the process for receiving and shipping cargo includes the following steps:

[0175] In step S1000, if the shape of cargo 400 is irregular, the cargo access mechanism of the cargo access system is adjusted to the unloading state for irregularly shaped cargo.

[0176] The unloading of irregularly shaped cargo is the same as the unloading operation of regular cargo in the manner of pushing it out. In the unloading of irregularly shaped cargo, the first block member 31 is in the first limit position. Along the first direction, the first block member 31 is positioned between the restricting device 4 and the second block member 32 which is in a horizontal position, and the first block member 31 is positioned between the pair of gripping portions 22. Here, the first block member 31 moves along the first direction with the sliding means 21 to push the cargo 400 on the support member 11 out of the support member 11.

[0177] In step S1100, the cargo 400 is pushed out from the support member 11 of the cargo access mechanism. Specifically, the first block member 31 moves along the first direction, pushing out the cargo 400.

[0178] In step S1100 described above, when the irregularly shaped cargo is unloaded, the gripping portion 22 does not need to move along the second direction, but adjusts the first block member 31 to the first limit position and avoids the restricting device 4. Subsequently, the first block member 31 moves along the first direction with the sliding means 21 to push the cargo 400 on the support member 11 to the outside of the support member 11. This operation allows all the cargo 400 on the support member 11 to be pushed out at once. Alternatively, only some of the cargo 400 on the support member 11 can be pushed out as needed, depending on when the first block member 31 is adjusted to the first limit position.

[0179] After step S1100, the extruded cargo 400 is transported to the packaging machine 200 for packaging, and the packaged cargo 400 is transported to the delivery locker 300 for storage.

[0180] In some embodiments of the present disclosure, a cargo access device is provided which includes a memory and a processor connected to the memory. The processor is configured to execute the cargo loading and unloading methods of any of the embodiments described above, based on instructions stored in the memory.

[0181] Memory includes system memory and fixed non-volatile storage media. System memory stores the operating system, application programs, boot loader, and other programs.

[0182] In some embodiments of this disclosure, a computer-readable storage medium on which a computer program is stored is also provided. When executed by a processor, this program implements the cargo loading and unloading method of any of the embodiments described above.

[0183] The processors described herein may include general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, individual gate or transistor logic, individual hardware means, or any combination designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but alternatively, this processor may be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors working in conjunction with a DSP core, or any other such configuration.

[0184] A storage medium is any available medium that a computer can access. Such computer-readable mediums include, but are not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage devices, magnetic disk storage devices or other magnetic storage devices, or any other medium that can be used to carry desired program code in the form of instructions or data structures and is accessible to a computer. Any connection is also appropriately called a computer-readable medium. For example, if software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technology such as infrared, radio, or microwave, then that coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technology such as infrared, radio, or microwave is included in the definition of medium. As used herein, disk and disc include compact disc (CD), laserdisc, optical disc, digital versatile disc (DVD), floppy disk, and Blu-ray disc, where disk typically reproduces data magnetically, and disc uses a laser to reproduce data optically. The above combinations should also be included within the scope of computer-readable media.

[0185] Those skilled in the art will understand that the method embodiments of this disclosure can be provided as a method, system, or computer program product. Accordingly, this disclosure can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment of a combination of software and hardware. Furthermore, this disclosure can take the form of a computer program product executed on one or more computer-available non-temporary storage media (including, but not limited to, disk memory, CD-ROM, optical memory, etc.).

[0186] This disclosure will be described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products relating to some embodiments of this disclosure. It will be understood that each process and / or block in a flowchart and / or block diagram, and combinations of processes and / or blocks in a flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions are provided to a processor of a general-purpose computer, a dedicated computer, an embedded processor, or other programmable data processing device, which generates a machine, and the instructions executed by the processor of the computer or other programmable data processing device generate a device for realizing one or more processes in a flowchart and / or one or more blocks in a block diagram.

[0187] These computer program instructions may also be stored in computer-readable memory that guides a computer or other programmable data processing device to operate in a particular way, and the instructions stored in computer-readable memory generate a product that includes an instruction unit that implements the functions specified in one or more processes in a flowchart and / or one or more blocks in a block diagram.

[0188] These computer program instructions can also be loaded into a computer or other programmable data processing device, which can then perform a series of operational steps on the computer or other programmable device to generate computer-implemented processing. The instructions executed on the computer or other programmable device provide steps to implement one or more processes in a flowchart and / or one or more blocks in a block diagram.

[0189] Finally, it is necessary to state the following: The embodiments described above are for illustrative purposes only and are not limiting. Specific embodiments of the disclosure may be modified or certain technical features may be replaced equally, but only if they do not deviate from the spirit of the technical solution of the disclosure, and should be included within the scope of the claims of the disclosure.

Claims

1. A cargo access mechanism comprising a support base (1), a gripping mechanism (2), and a blocking mechanism (3), The support base (1) includes a support member (11), The gripping mechanism (2) includes a sliding means (21) slidably attached to the support member (11) along a first direction, and a pair of gripping portions (22) movably attached to the sliding means (21) along a second direction. The block mechanism (3) includes a first block member (31) movably mounted on the sliding means (21) along a third direction, and a second block member (32) mounted on the support member (11). The first direction and the second direction intersect in the horizontal plane, and the third direction is different from the first direction and the second direction. A cargo access mechanism characterized by the following features.

2. The sliding means (21) includes a frame (211), a first drive unit (2121), a first transmission mechanism (2122), and a pair of first connecting members (2123). The frame (211) includes a first upright column (2111), a second upright column (2112), and a connecting upright column (2113), wherein the first upright column (2111) and the second upright column (2112) are distributed, one end of the connecting upright column (2113) is fixedly connected to the first upright column (2111), the other end of the connecting upright column (2113) is fixedly connected to the second upright column (2112), the first upright column (2111) slidably holds one end of the support member (11) in the second direction, and the second upright column (2112) slidably holds the other end of the support member (11) in the second direction. The first drive unit (2121) is attached to one of the first vertical column (2111), the second vertical column (2112), and the connecting vertical column (2113). The first connecting member (2123) is driven and connected to the first drive unit (2121) via the first transmission mechanism (2122) so that it moves along the second direction by being driven by the first drive unit (2121). The cargo access mechanism according to feature 1.

3. The first transmission mechanism (2122) is, A first gear (2122a) is fixedly connected to the output shaft of the first drive unit (2121), A first rack (2122b) that meshes with the first gear (2122a), It includes a second rack (2122c) that meshes with the first gear (2122a) and is arranged parallel to the first rack (2122b), One end of the first connecting member (2123) is fixedly connected to the first rack (2122b), and the other end of the first connecting member (2123) is fixedly connected to the second rack (2122c). The cargo access mechanism according to feature 2.

4. The first transmission mechanism (2122) further includes a pair of first guide portions (2122d) that are fixedly attached to the connecting column (2113), The first guide portions (2122d) are arranged in a line along the direction of movement of the first rack (2122b), and the first gear (2122a) is positioned between the pair of first guide portions (2122d). One of the first connecting members (2123) is slidably attached to one of the first guide portions (2122d), the other of the first connecting members (2123) is slidably attached to the other of the first guide portions (2122d), one of the gripping portions (22) is fixedly connected to one of the first connecting members (2123), and the other of the gripping portions (22) is fixedly connected to the other of the first connecting members (2123). The cargo access mechanism according to feature 3.

5. The aforementioned block mechanism (3) is A second drive unit (33) attached to the first vertical column (2111), the second vertical column (2112), or the connecting vertical column (2113), The present invention further includes a second transmission mechanism (34) which is driven and connected to the second drive unit (33) so as to rotate when driven by the second drive unit (33), The first block member (31) is attached to the second transmission mechanism (34) such that it rotates in a third direction in conjunction with the second transmission mechanism (34). The cargo access mechanism according to feature 2.

6. The second transmission mechanism (34) includes an output shaft gear (340), a pair of second gears (341), a pair of semi-gears (342), and a connecting shaft (343). The output shaft gear (340) is fixedly connected to the power output shaft of the second drive unit (33), One of the paired second gears (341) meshes with the output shaft gear (340), The pair of semi-gears (342) mesh with the second gear (341) in a one-to-one correspondence so that they rotate when driven by the second gear (341). The connecting shaft (343) either fixes and connects each of the pair of semi-gears (342), or fixes and connects the two second gears (341). One end of the first block member (31) is fixedly connected to one of the semi-gears (342), and the other end of the first block member (31) is fixedly connected to the other semi-gear (342). The cargo access mechanism according to feature 5.

7. The second transmission mechanism (34) further includes a pair of third connecting members (344), the third connecting members (344) being fixedly connected to the semi-gear (342) in a one-to-one correspondence. One end of the first block member (31) in the second direction is fixedly connected to one of the third connecting members (344), and the other end of the first block member (31) in the second direction is fixedly connected to the other of the third connecting member (344). The cargo access mechanism according to feature 6.

8. The first block member (31) has a first limit position and a second limit position, When the first block member (31) is in the first limit position, the first block member (31) is positioned between the pair of gripping portions (22) in the second direction, and the first block member (31) is configured to move in the first direction with the sliding means (21) to push the cargo (400) away from the support member (11), or the first block member (31) is configured to stop the cargo (400) to prevent it from falling from the end of the support member (11) on which the first block member (31) is positioned. When the first block member (31) is in the second limit position, the first block member (31) is located outside the movement trajectory of the gripping portion (22) along the second direction, and the gripping portion (22) is movable in the second direction. A cargo access mechanism according to any one of claims 1 to 7.

9. The gripping mechanism (2) is A third drive unit (23) is attached to the bottom of the support member (11), The present invention further includes a third transmission mechanism (24) which is driven and connected to the third drive unit (23) and fixedly connected to the sliding means, The sliding means is configured to move linearly in the first direction in conjunction with the third transmission mechanism by the drive of the third drive unit (23). A cargo access mechanism according to any one of claims 1 to 7.

10. The third drive mechanism (24) is, A first guide rail (240) is fixedly attached to the support base (1), A second guide portion (241) is slidably attached to the first guide rail (240), A pulley (242) is fixedly connected to the output shaft of the third drive unit (23), The support base (1) includes a first belt (243) attached to the bottom, The sliding means (21) is fixedly attached to the second guide portion (241), the first belt (243) engages with the pulley (242), and the sliding means (21) is fixedly connected to the first belt (243). The cargo access mechanism according to feature 9.

11. The aforementioned block mechanism (3) is A fourth drive unit (35) is attached to the support member (11), The present invention further includes a fourth drive mechanism (36) driven to the fourth drive unit (35), The second block member (32) is rotatably attached to one end of the support member (11) in the first direction, and the fourth drive unit (35) is driven to the second block member (32) to switch the second block member (32) between an upright state and a flat state. A cargo access mechanism according to any one of claims 1 to 7.

12. The fourth transmission mechanism (36) is, A crank (361) having one end fixedly connected to the power output shaft of the fourth drive unit (35), A link (360) is rotatably connected at one end to the other end of the crank (361) and at the other end to the second block member (32), The fourth drive unit (35) is located at the bottom of the support member (11), and the crank (361) and the link (360) are also located at the bottom of the support member (11). The cargo access mechanism according to feature 11.

13. The system further comprises a restricting device (4) attached to the support member (11) and located at the end of the support member (11) away from the second block member (32), A cargo access mechanism according to any one of claims 1 to 7.

14. In order to avoid the aforementioned restricting device (4), the first block member (31) is provided with a receiving groove (311), When the first block member (31) is in the first limit position, the regulating device (4) is located within the housing groove (311). The cargo access mechanism according to feature 13.

15. The cargo access mechanism is configured to include the following picking states for irregularly shaped cargo: In the first direction, the restricting device (4) is located between the first block member (31) which is in the first limit position and the second block member (32) which is in the upright position. In the second direction, the first block member (31) is located between the pair of gripping portions (22), The first block member (31), the second block member (32), and the pair of gripping parts (22) all surround a storage box (1000) with an open top. The cargo access mechanism according to feature 13.

16. The cargo access mechanism is configured to include the following unloading states for irregularly shaped cargo: In the first direction, the first block member (31) at the first limit position is positioned between the restricting device (4) and the second block member (32) which is laid flat, or the first block member (31) at the first limit position accommodates the restricting device (4) by its own accommodating groove (311). In the second direction, the first block member (31) is located between the pair of gripping portions (22), The first block member (31) moves in a first direction with the sliding means (21) so as to push the cargo (400) on the support member (11) away from the support member (11). The cargo access mechanism according to feature 13.

17. The aforementioned cargo access mechanism has the following picking status for regular cargo: The first block member (31) is in the second limit position and, in the first direction, the first block member (31) is located on the side of each of the gripping portions (22) away from the second block member (32); in the second direction, the first block member (31) is positioned outside the movement trajectory of the gripping portion (22), the second block member (32) is in a flat position, the gripping portion (22) moves with the sliding means (21) so as to protrude from the support base (1), and the gripping portion (22) is closed in the second direction so as to grip cargo (400) located outside the support member (11). A cargo access mechanism according to any one of claims 1 to 7.

18. The aforementioned cargo access mechanism has the following unloading status for regulated cargo: The first block member (31) is in a second limit position, and in a first direction, the first block member (31) is located on the side of each of the gripping portions (22) away from the second block member (32), and in a second direction, the first block member (31) is positioned outside the movement trajectory of the gripping portion (22), the second block member (32) is in a flat position, the gripping portion (22) is closed in a second direction to grip cargo (400) located on the support member (11), and the gripping portion (22) moves with the sliding means (21) so as to protrude from the support base (1) to send the gripped cargo (400) outside the support member (11). A cargo access mechanism according to any one of claims 1 to 7.

19. The aforementioned cargo access mechanism has the following unloading status for regulated cargo: The first block member (31) is in the first limit position, and in the first direction, the first block member (31) is located between the restricting device (4) and the second block member (32) which is in a horizontal position, and the first block member (31) is located between the pair of gripping portions (22). The first block member (31) moves in a first direction with the sliding means (21) so as to push the cargo (400) on the support member (11) away from the support member (11). A cargo access mechanism according to any one of claims 1 to 7.

20. It is a cargo access robot, Carriage arm (5) and A cargo access mechanism according to any one of claims 1 to 19, which is rotatably attached to the carriage arm (5), A cargo access robot characterized by the following features.

21. A fifth drive unit (6) is attached to the carriage arm (5), It comprises a fifth drive mechanism (7) which is driven and connected to the fifth drive unit (6), The cargo access mechanism includes a fifth transmission mechanism (7) which is driven and connected to the fifth drive unit (6) and fixedly connected to the cargo access mechanism, such that the cargo access mechanism rotates by the drive of the fifth drive unit (6). A cargo access robot according to feature 20.

22. Support column (8) and A sixth drive unit (9) is attached to the support column (8), The cargo access mechanism includes a sixth transmission mechanism (10) which is driven and connected to the sixth drive unit (9) and fixedly connected to the carriage arm (5), such that the cargo access mechanism moves along the support column (8) by the drive of the sixth drive unit (9). A cargo access robot according to feature 20.

23. The sixth transmission mechanism (10) includes a first timing pulley (101), a second timing pulley (102), a timing belt, a second guide rail (104), and a third guide section. The first timing pulley (101) is attached to one end of the support column (8) and is fixedly connected to the power output shaft of the sixth drive unit (9). The second timing pulley (102) is attached to the other end of the support column (8), The timing belt is tensioned by the first timing pulley (101) and the second timing pulley (102), and the cargo access mechanism is attached to the timing belt so as to move up and down in conjunction with the rotation of the timing belt. The second guide rail (104) is attached to the support column (8), The third guide portion is slidably mounted on the second guide rail, and the cargo access mechanism is fixedly mounted on the third guide portion. The cargo access robot according to feature 22.

24. A cargo access system including a cargo access robot according to any one of claims 1 to 23, a step of determining whether to perform picking or unloading, When the cargo access system performs picking, there is a step of determining whether the shape of the cargo to be picked (400) conforms to a rule, If the shape of the cargo (400) is regular, the cargo access mechanism is adjusted to a picking state for regular cargo. The process includes the step of extending the gripping mechanism (2) of the cargo access system to grip the cargo (400), A method for receiving and dispatching goods, characterized by the following:

25. If the shape of the cargo (400) is irregular, the cargo access mechanism of the cargo access system is adjusted to a state for picking irregularly shaped cargo. The process further includes the step of placing cargo (400) into a storage box (1000) formed by the cargo access mechanism of the cargo access system, The method for receiving and shipping goods according to feature 24.

26. When the cargo access system performs unloading, it includes the step of determining whether the shape of the cargo to be removed (400) is regular, If the shape of the cargo (400) is regular, the cargo access mechanism of the cargo access system is adjusted to the unload state for the regular cargo. The process further includes the steps of pushing the cargo (400) out of the support member (11) of the cargo access mechanism, or gripping the cargo out of the support member (11), The method for receiving and shipping goods according to feature 24.

27. If the shape of the cargo (400) is irregular, the cargo access mechanism of the cargo access system is adjusted to the unloading state for the irregularly shaped cargo. The further step includes pushing the cargo (400) out from the support member (11) of the cargo access mechanism, The method for receiving and shipping goods according to feature 24.

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