CN105600253B - A kind of self-service express delivery, which is posted, takes device - Google Patents
A kind of self-service express delivery, which is posted, takes device Download PDFInfo
- Publication number
- CN105600253B CN105600253B CN201610074440.0A CN201610074440A CN105600253B CN 105600253 B CN105600253 B CN 105600253B CN 201610074440 A CN201610074440 A CN 201610074440A CN 105600253 B CN105600253 B CN 105600253B
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- Prior art keywords
- cargo
- shelf
- arm
- sales counter
- right angle
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
It is posted the invention discloses a kind of self-service express delivery and takes device, by the external access part sales counter that control system can be inputted, had into row information, it can realize flexible gadget hand, it can realize the right angle coordinate manipulator that tri- directions of X, Y, Z are slided and Z-direction is turned round, transmission device, shelf and control system collectively constitute.By the control of control system, the routing motion of right angle coordinate manipulator, gadget hand and transmission device grips transmission package to realize the taking-up process of cargo package or reversely be stored in process from shelf.A kind of self-service express delivery, which is posted, takes device to coordinate different access part right angle coordinate manipulators using more shelf sort-type stocks, substantially increases pickup efficiency, reduces human cost, realizes big stock and accesses part；And cooperation control system, the error rate of express delivery access part is greatly reduced, can pickup be realized with convenient quickly.
Description
Technical field
The present invention relates to logistics field of express delivery more particularly to a kind of self-service express delivery to post and take device.
Background technology
The increasingly rise of delivery industry, posting for express delivery take the substantial amounts of manpower of needs to go to complete, and currently the majority express delivery is posted
It is by courier distribution to be gone to complete, it is necessary to which many mistakes, may also occur during pickup in substantial amounts of manpower and materials to take process
Situation by mistake, while the efficiency by artificially distributing express delivery object is relatively low, since express delivery is more sometimes, it is impossible to quickly
Corresponding courier packages are found, add the time of pickup.
Application notification number discloses a kind of artificial intelligence access of express delivery terminal for CN 204416544U utility model patents
Machine.It is provided with single shelf to be used cooperatively with single manipulator, takes package away from shelf using manipulator, then transport cabinet to
Platform realizes intellectual access part.The artificial intelligence access machine of the express delivery terminal can not achieve huge stocks pickup, to courier packages
Size also have certain limitation.
The content of the invention
The defects of in order to solve the above-mentioned prior art, a kind of new self-service express delivery of present invention proposition, which is posted, takes device, Ke Yishi
The now access of the various express delivery cargos of high-volume, substantially increases express delivery access efficiency.
Specifically technical solution is：
A kind of self-service express delivery, which is posted, takes device, including：External access part sales counter 1, gadget hand 6, right angle coordinate manipulator 7,
Transmission device 8, shelf 4 and control system, the control system pass through right angle coordinate manipulator 7, gadget hand 6 and transmission device
The 8 gripping transmission from shelf 4 that is used cooperatively wraps up realizing the taking-up process of cargo package 5 or is reversely stored in process.It is described
External access part sales counter 1 is placed in the exterior space for being easy to pickup, gadget hand 6, right angle coordinate manipulator 7, transmission device 8,
Shelf 4 and control system are arranged in bulk storage plant, and external access part sales counter 1 is equipped with message input device 2 with depositing above
Access section 3, message input device 2 are equipped with input keyboard and display screen above, and keyboard is using digital 9 keyboards.The external access
1 back side of part sales counter is equipped with sales counter cargo storage mouth 9, and cargo package 5 is transported to sales counter cargo storage mouth 9 by gadget hand 6, external
1 lower part of access part sales counter, which is equipped with, deposits access section 3, and the cargo package 5 at sales counter cargo storage mouth 9, which reaches, to be deposited at access section 3, is controlled
System control is deposited access section 3 and is opened, and realizes and takes out cargo package 5, the message input device 2 on the external access part sales counter 1
Equipped with cash register small change mouth, inside is equipped with gravity measure device, barcode scanning device and label sticking machine.
Preferably, the gadget hand 6 is disposed adjacent at external access part sales counter 1, and 6 installation position of gadget hand needs
Ensure the cargo package 5 in gadget hand 6 can take transmission device 8 away by movement, and cargo package 5 can be put into outer
In the sales counter cargo storage mouth 9 of portion's access part sales counter 1, transmission device 8 is applied in entire shelf 4 and places area, 8 one side of transmission device
It is shelf 4, shelf 4 are that both sides is set to store cargo package 5, and both sides are placed with cargo package 5, and shelf 4 divide for multiple field, shelf
4 placement belongs to side by side arrangement, is used to install right angle coordinate manipulator 7 there are space between two shelf 4, space size can be protected
Card right angle coordinate manipulator 7 do not interfered after multifreedom motion reaches the limit of position, coordinates the right angle of different size
Coordinate robots 7 realize the quickly and easily access of the cargo package 5 of various specifications.
Preferably, the gadget hand 6 is by gadget hand fixed station 13, vertical arm 14, horizontal arm 15, telescopic arm 16, folder
It holds hand A17 and positioning shooting head A18 is collectively constituted, 13 lower end of gadget hand fixed station is fixed on ground using fixed mode
On face or fixing device, upper end is equipped with round platform, and 14 lower end of vertical arm is equipped with the matched installation of round platform, gadget hand fixed station 13
Internal after coordinating with vertical arm 14 to be equipped with the rotating mechanism for realizing that 14 lower end round platform of vertical arm rotates, vertical arm 14 is in rotating machine
The rotation along lower end round platform axis can be realized under the action of structure, type of drive is driven using motor.
Preferably, 14 upper end of vertical arm is equipped with horizontal arm 15, and vertical arm 14 keeps right angle setting with horizontal arm 15
And ensureing steadily of centre of gravity at work, horizontal arm 15 is hollow legn, and telescopic arm 16 is pacified by coordinating with 15 internal cavity of horizontal arm
In horizontal arm 15, telescopic arm 16 can stretch in 15 cavity of horizontal arm along the axis common with horizontal arm 15 of telescopic arm 16
The distance for meeting job requirement is slided, the type of drive of slip is using hydraulic-driven, and 16 front end of telescopic arm is tongue end plate, therewith
The clamping hand A17 of cooperation is symmetrically mounted on using groove card slot form on 16 front end tongue end plate of telescopic arm, before telescopic arm 16
End is equipped with positioning shooting head A18, symmetrical two clamping hands A17 can be simultaneously to two Slideslips or simultaneously to center cunning
Dynamic, two clamping hand A17 cooperations can make opening and closing campaign, fed back by positioning shooting head A18 position locations, realize cargo
The crawl of package 5.
Preferably, the transmission device 8 is made of conveyer belt 10, roller 11 and fixed frame 12, and 8 both ends of transmission device are equipped with
Fixed frame 12, roller 11 are placed on fixed frame 12, and roller 11 can be freely rotated on fixed frame 12, pacify on both ends roller 11
Conveyer belt 10 is filled, the rotation of roller 11 drives conveyer belt 10 to slide, and cargo package 5 can be slided with conveyer belt 10 with transmission
Band 10 moves, and can realize and makes for sending 5 crawl of cargo package on shelf 4 to the right angle coordinate manipulator 7 of transmission device 8
X, the slip in tri- directions of Y, Z and the revolution of z axis direction, so as to capture the cargo of each position on shelf 4 package 5 and both sides goods
Cargo package 5 on frame 4, the right angle coordinate manipulator 7 is turned round by the sliding equipment in tri- directions of X, Y, Z and z axis direction
Mechanism forms.
Preferably, the X-direction sliding equipment is from X to line slideway 19, screw A20, stepper motor A21 and X to slip
Platform 22 forms, and X is placed in by fixed mode on ground or fixing device to line slideway 19, and X pacifies to line slideway 19
Seated position is between two shelf 4, ensures that right angle coordinate manipulator 7 can wrap up the cargo in both racks 45 realizations and grab
It takes, X is equipped with leading screw A20 to 19 center of line slideway, and side is equipped with stepper motor A21, has driver inside side
Structure, X are equipped with leading screw A20 matching mechanisms to 22 lower part of sliding stand, and X is installed to sliding stand 22 and leading screw A20 by ball screw assembly,
Together, and by slot be fitted to X on line slideway 19, stepper motor A21, which is rotated, drives leading screw A20 to rotate, X to
Sliding stand 22 is slided in X to line slideway 19, and the Y-direction sliding equipment is by Y-direction travelling arm 26, clamping hand B29, stepping electricity
Machine D32, positioning shooting head B28 and gear 31 form, and Y-direction travelling arm 26 is fitted to 25 horizontal side of Z-direction sliding stand by slot
On, Y-direction travelling arm 26 is equipped with rack 27, passes through stepper motor D32 and 31 assemblage zone of gear being mounted on Z-direction sliding stand 25
Carry-over bar 27 can horizontally slip, and 26 front end of Y-direction travelling arm is tongue end plate, and matched clamping hand B29 uses groove
Card slot form is symmetrically mounted on 26 front end tongue end plate of travelling arm, and 26 front end of Y-direction travelling arm is equipped with positioning shooting head B28,
By the position of positioning shooting head B28 positioning capturings cargo package 5, symmetrical two clamping hands B29 can be simultaneously to both sides
It slides or is slided simultaneously to center, two clamping hand B29 cooperations can make opening and closing campaign, the z axis direction revolution
Mechanism is located at X to the rotating mechanism fortune inside sliding stand 22 by being mounted on stepper motor B23 of the X on sliding stand 22 and driving
It is dynamic.
Preferably, the Z-direction sliding equipment is by Z-direction line slideway 24, Z-direction sliding stand 25, stepper motor C30 and leading screw
B33 is formed, and X is equipped with round platform to 22 upper end of sliding stand, and 24 lower end of Z-direction line slideway is equipped with round platform and justifies with X to 22 upper end of sliding stand
Platform cooperation installation, installation ensure two round platforms on the same axis, in Z-direction after the installation of Z-direction line slideway 24, are led with X to straight line
19 perpendicular shape of rail, 24 center of Z-direction line slideway are equipped with leading screw B33, and upside is equipped with stepper motor C30, in upside
There is transmission mechanism in portion, and Z-direction sliding stand 25 is internally provided with leading screw B33 matching mechanisms, and Z-direction sliding stand 25 and leading screw B33 passes through ball
Lead screw pair is installed together, and 25 vertical side of Z-direction sliding stand is fitted to by slot on Z-direction line slideway 24, stepping electricity
Machine C30, which is rotated, drives leading screw B33 to rotate, and Z-direction sliding stand 25 is slided in Z-direction line slideway 24.
Beneficial effects of the present invention：A kind of self-service express delivery of the present invention, which is posted, takes device that can reduce human cost, and access is fast
Appearance convenient and efficient during cargo, and also reducing mistake when express delivery accesses is passed, in a manner that warehouse-type classifies cargo placement,
It can realize the access of the various express delivery cargos of high-volume, substantially increase express delivery access efficiency.
Description of the drawings
This specification includes the following drawings, and shown content is respectively：
Fig. 1 is that the front integral layout structure diagram for taking device is posted in a kind of self-service express delivery of the present invention；
Fig. 2 is that the back side integral layout structure diagram for taking device is posted in a kind of self-service express delivery of the present invention；
Fig. 3 is that the left side structure schematic diagram for taking device is posted in a kind of self-service express delivery of the present invention；
Fig. 4 is that the right side structure schematic diagram for taking device is posted in a kind of self-service express delivery of the present invention；
Fig. 5 is that the overlooking the structure diagram for taking device is posted in a kind of self-service express delivery of the present invention；
Fig. 6 is that the main structure diagram for taking device is posted in a kind of self-service express delivery of the present invention；
Fig. 7 is that the operating mechanism's schematic diagram for taking device is posted in a kind of self-service express delivery of the present invention；
Fig. 8 is that schematic diagram after the operating mechanism's movement for taking device is posted in a kind of self-service express delivery of the present invention；
Fig. 9 is that the positive structure schematic for taking the right angle coordinate manipulator in device is posted in a kind of self-service express delivery of the present invention；
Figure 10 is that the structure schematic diagram for taking the right angle coordinate manipulator in device is posted in a kind of self-service express delivery of the present invention；
In figure mark for：
1st, external access part sales counter；2nd, message input device；3rd, access section is deposited；4th, shelf；5th, cargo wraps up；6th, gadget
Hand；7th, right angle coordinate manipulator；8th, transmission device；9th, sales counter cargo storage mouth；10th, conveyer belt；11st, roller；12nd, fixed frame；
13rd, gadget hand fixed station；14th, vertical arm；15th, horizontal arm；16th, telescopic arm；17th, hand A is clamped；18th, positioning shooting head A；
19th, X is to line slideway；20th, screw A；21st, stepper motor A；22nd, X is to sliding stand；23rd, stepper motor B；24th, Z-direction straight line is led
Rail；25th, Z-direction sliding stand；26th, Y-direction travelling arm；27th, rack；28th, positioning shooting head B；29th, hand B is clamped；30th, stepper motor
C；31st, gear；32nd, stepper motor D；33rd, leading screw B.
Specific embodiment
Below against attached drawing, by the description of the embodiment, making to the specific embodiment of the present invention further details of
Explanation, it is therefore an objective to those skilled in the art be helped to have more complete, accurate and deep reason to design of the invention, technical solution
Solution, and contribute to its implementation.
As shown in Figures 1 and 2, a kind of self-service express delivery, which is posted, takes device to be sat by external access part sales counter 1, gadget hand 6, right angle
Mark manipulator 7, transmission device 8, shelf 4 and control system collectively constitute.Control system passes through right angle coordinate manipulator 7, small
Manipulator 6 and transmission device 8 with the use of from shelf 4 gripping transmission package with realize the taking-up process of cargo package 5 or
Reversely deposit process.
Wherein, external access part sales counter 1 is placed in the exterior space for being easy to pickup, and inside is a bulk storage plant, small machine
Tool hand 6, right angle coordinate manipulator 7, transmission device 8, shelf 4 and control system are in bulk storage plant.External access part sales counter 1
Message input device 2 is equipped with above and deposits access section 3, and message input device 2 is equipped with input keyboard above and display screen, keyboard are excellent
First using digital 9 keyboards, it is easy to the input of user, improves work efficiency.User can be sent to the shifting of oneself according to control system
It is inputted in keyboard of the pickup digital code in message input device 2 in dynamic equipment.1 back side of external access part sales counter is equipped with cabinet
Platform cargo storage mouth 9, cargo package 5 are transported to sales counter cargo storage mouth 9 by gadget hand 6；It is corresponding, external access part
1 lower part of sales counter, which is equipped with, deposits access section 3, and the cargo package 5 at sales counter cargo storage mouth 9, which reaches, to be deposited at access section 3, control system control
System is deposited access section 3 and is opened, and realizes and takes out cargo package 5.It is needed as deposit cargo package 5, the letter on external access part sales counter 1
Breath input unit 2, which is equipped with cash register small change mouth and internal cash register small change system cooperation, can realize change making function of collecting money, inside installation
There are gravity measure device, barcode scanning device and label sticking machine, realize the initial deposit process of cargo package 5.
With reference to shown in Fig. 3 to Fig. 6, gadget hand 6 is disposed adjacent at external access part sales counter 1, and gadget hand 6 disposes position
Putting needs to ensure the cargo package 5 in gadget hand 6 takes transmission device 8 away by range of motion, and can pass through a system
Cargo package 5 is put into the sales counter cargo storage mouth 9 of external access part sales counter 1 by row movement.Transmission device 8 is applied in entire goods
Frame 4 places area, and 8 one side of transmission device is shelf 4, and shelf 4 put object shelf such as supermarket, there is many group shelf 4, and shelf 4
It is that both sides is set to store cargo package 5, both sides are placed with cargo package 5, and shelf 4 divide for multiple field, considerably increase cargo bag
5 amount of storage is wrapped up in, also saves space.The placement of shelf 4 belongs to side by side arrangement simultaneously, and there are spaces between two shelf 4 to be used for
Right angle coordinate manipulator 7 is installed, space size can ensure that right angle coordinate manipulator 7 carries out multifreedom motion and reaches the limit of position
It postpones and does not interfere.Cargo package 5 is placed on according to size specification difference on different shelf 4, to different size specification shape
The cargo package 5 of shape is classified, and such 5 classification of variety classes cargo package is clear and definite.Coordinate the rectangular co-ordinate machine of different size
Tool hand 7 can effectively realize the quickly and easily access of the cargo package 5 of various specifications.Shelf 4 are installed with transmission device 8
Position is needed after ensureing to remove cargo package 5 by the range of motion of right angle coordinate manipulator 7, then can by range of motion
Further work will be carried out on 5 placement transmission device 8 of cargo package.
As shown in fig. 7, for sending 5 crawl of cargo package on transmission device 8 to the cabinet at 1 back side of external access part sales counter
Gadget hand 6 in platform cargo storage mouth 9, gadget hand 6 is by gadget hand fixed station 13, vertical arm 14, horizontal arm 15, flexible
Arm 16, clamping hand A17 and positioning shooting head A18 are collectively constituted.13 lower end of gadget hand fixed station uses fixed mode
It is fixed in ground or fixing device, upper end is equipped with round platform, and 14 lower end of vertical arm is equipped with the matched installation of round platform.Gadget hand
Fixed station 13 is internal after coordinating with vertical arm 14 to be equipped with the rotating mechanism for realizing that 14 lower end round platform of vertical arm rotates, vertical arm 14
The rotation along lower end round platform axis can be realized under the action of rotating mechanism, type of drive is preferentially driven using motor.Vertically
14 upper end of arm is equipped with horizontal arm 15, and vertical arm 14 keeps right angle setting with horizontal arm 15, and installation ensures stable gravity center at work
It is fixed.Horizontal arm 15 is hollow legn, and telescopic arm 16 with 15 internal cavity of horizontal arm by being fitted in horizontal arm 15, telescopic arm
16 can in 15 cavity of horizontal arm along telescopic arm 16 and the common axis telescopic slide of horizontal arm 15 meet job requirement away from
From the type of drive of slip preferentially uses hydraulic-driven.16 front end of telescopic arm is tongue end plate, matched, clamps hand
A17 is symmetrically mounted on using groove card slot form on 16 front end tongue end plate of telescopic arm, and 16 front end of telescopic arm is equipped with positioning and takes the photograph
As head A18, by the position of positioning shooting head A18 positioning capturings cargo package 5, symmetrical two clamping hands A17 can be same
When slided to two Slideslips or simultaneously to center, two clamping hand A17 cooperations can make opening and closing campaign, be taken the photograph by positioning
As head A18 position locations feedback, the crawl of cargo package 5 is realized.
As shown in figure 8, transmission device 8 is made of conveyer belt 10, roller 11 and fixed frame 12,8 both ends of transmission device are equipped with
Fixed frame 12, roller 11 are placed on fixed frame 12, and roller 11 can be freely rotated on fixed frame 12, pacify on both ends roller 11
Conveyer belt 10 is filled, the rotation of roller 11 drives conveyer belt 10 to slide, and cargo package 5 can be slided with conveyer belt 10 with biography
Band 10 is sent to move.
As shown in Figures 9 and 10, sent for the cargo package 5 on shelf 4 to be captured to the rectangular co-ordinate machine of transmission device 8
Tool hand 7, right angle coordinate manipulator 7 can realize the slip for making tri- directions of X, Y, Z, can capture each position on shelf 4
Cargo package 5, and right angle coordinate manipulator 7 can realize that z axis direction is turned round, to realize the goods on crawl both sides shelf 4
Object package 5.Right angle coordinate manipulator 7 is also made of the sliding equipment and z axis direction swing mechanism in tri- directions of X, Y, Z.
X-direction sliding equipment is made of X to line slideway 19, screw A20, stepper motor A21 and X to sliding stand 22.X to
Line slideway 19 is placed in by fixed mode on ground or fixing device, and X is in two to 19 installation position of line slideway
, it is necessary to ensure right angle coordinate manipulator 7 can be to the cargo in both racks 4 after range of motion between a shelf 4
Wrap up 5 convenient and efficient crawls.X is equipped with leading screw A20 to 19 center of line slideway, and side is equipped with stepper motor A21, side
There is transmission mechanism inside side, for transferring the rotational motion that stepper motor A21 reaches leading screw A20.X is equipped with to 22 lower part of sliding stand
Leading screw A20 matching mechanisms, X are installed together to sliding stand 22 and leading screw A20 by ball screw assembly, and are coordinated by slot and pacified
Mounted in X on line slideway 19, stepper motor A21, which is rotated, drives leading screw A20 to rotate, and X is to sliding stand 22 in X to line slideway 19
It slides, i.e. X-direction movement is realized.
Z-direction sliding equipment is made of Z-direction line slideway 24, Z-direction sliding stand 25, stepper motor C30 and leading screw B33.X to
22 upper end of sliding stand is equipped with round platform, and 24 lower end of Z-direction line slideway is equipped with round platform and is installed with X to 22 upper end round platform cooperation of sliding stand,
Installation ensures two round platforms on the same axis.Z-direction line slideway 24 is in Z-direction after installing, perpendicular to line slideway 19 with X
Shape.24 center of Z-direction line slideway is equipped with leading screw B33, and upside is equipped with stepper motor C30, and upper interior has driver
Structure, for transferring the rotational motion that stepper motor C30 reaches leading screw B33.Z-direction sliding stand 25 is internally provided with leading screw B33 cooperation machines
Structure, Z-direction sliding stand 25 and leading screw B33 are installed together by ball screw assembly, and 25 vertical side of Z-direction sliding stand is matched somebody with somebody by slot
It closes and is mounted on Z-direction line slideway 24, stepper motor C30, which is rotated, drives leading screw B33 to rotate, and Z-direction sliding stand 25 is led in Z-direction straight line
Rail 24 slides, i.e. Z-direction movement is realized.
Y-direction sliding equipment is by Y-direction travelling arm 26, clamping hand B29, stepper motor D32, positioning shooting head B28 and tooth
31 composition of wheel, Y-direction travelling arm 26 are fitted to by slot in 25 horizontal side of Z-direction sliding stand, and Y-direction travelling arm 26 is equipped with rack
27, it can be horizontally slipped by the stepper motor D32 and 31 assemblage zone carry-over bar 27 of gear that are mounted on Z-direction sliding stand 25.Y-direction
26 front end of travelling arm is tongue end plate, matched, and clamping hand B29 is symmetrically mounted on travelling arm using groove card slot form
On 26 front end tongue end plates, 26 front end of Y-direction travelling arm is equipped with positioning shooting head B28, passes through positioning shooting head B28 positioning capturings
The position of cargo package 5, symmetrical two clamping hands B29 can be slided to two Slideslips or simultaneously to center simultaneously, and two
A clamping hand B29 cooperations can make opening and closing campaign, realize the movement of Y-direction.Z axis direction swing mechanism passes through peace
It drives mounted in stepper motor B23s of the X on sliding stand 22 and is moved positioned at X to the rotating mechanism inside sliding stand 22, realize Z axis
Line direction is turned round.
A kind of self-service express delivery of the present invention, which is posted, takes the operation principle of device to be：Pickup process；User receives a kind of self-service fast
It passs and posts the pickup code that the control system for taking device is sent in oneself movement equipment, user goes to pickup point, in external access
Message input device 2 on part sales counter 1 inputs pickup code, and control system obtains personal code work and instructs, straight between control shelf 4
Angular coordinate manipulator 7 reaches cargo and wraps up 5 programmed positions, then is determined by the positioning shooting head B28 on Y-direction travelling arm 26
Cargo wraps up the accurate size of 5 accurate locations and cargo package 5, the opening and closing size of control clamping hand B29, to realize to goods
Effective crawl of object package 5；Cargo package B is transported on transmission device 8 by right angle coordinate manipulator 7 by range of motion again,
Control system control transmission device 8 moves, when cargo package 5 reaches specific position, 6 work of control system control gadget hand
Make, gadget hand 6 effectively captures cargo package 5 also by positioning shooting head A18.Gadget hand 6 send cargo package 5
In sales counter cargo storage mouth 9 into external access part sales counter 1, control system control is deposited access section 3 and is opened, and user takes out cargo
Package 5, wherein, motion process reference Fig. 7 to Fig. 8 of gadget hand 6 and right angle coordinate manipulator 7.
When depositing part, before user reaches external access part sales counter 1, inputted in message input device 2 and deposit part specific instruction, controlled
System control processed, which is opened, deposits access section 3, and packaged cargo package 5 is put into sales counter cargo storage mouth 9 by user, sales counter cargo
Weight calculation, barcode scanning are installed inside storage mouth 9, label sticking machine after carrying out a series of processing to deposit part, calculates price, then
Price is shown by message input device 2, user is equipped with cash register small change by the message input device 2 on external access part sales counter 1
Mouth can realize payment small change with internal cash register small change system cooperation.6 positioning clamping sales counter cargo storage mouth 9 of gadget hand afterwards
In cargo package 5, cargo package 5 is put into transmission device 8, right angle coordinate manipulator 7 is controlled according to control system afterwards
Cargo package 5 is gripped from transmission device 8 again, by a series of movement, cargo wraps up 5 positions distributed according to control system
It puts on the specific shelf 4 of deposit.
The present invention is exemplarily described above in association with attached drawing.Obviously, the present invention implements and from above-mentioned side
The limitation of formula.As long as employ the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress；Or not
It is improved, the above-mentioned design of the present invention and technical solution are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (7)
1. a kind of self-service express delivery, which is posted, takes device, it is characterised in that：Including：External access part sales counter (1), gadget hand (6), right angle
Coordinate robots (7), transmission device (8), shelf (4) and control system, the control system pass through right angle coordinate manipulator
(7), gadget hand (6) and the gripping transmission from shelf (4) that is used cooperatively of transmission device (8) wrap up realizing that cargo wraps up
(5) taking-up process is reversely stored in process, and the external access part sales counter (1) is placed in the exterior space for being easy to pickup, small
Manipulator (6), right angle coordinate manipulator (7), transmission device (8), shelf (4) and control system are arranged at bulk storage plant
Interior, external access part sales counter (1) is equipped with message input device (2) and deposits access section (3) above, and message input device (2) is above
Equipped with input keyboard and display screen, keyboard uses numeric keypad, and external access part sales counter (1) back side is deposited equipped with sales counter cargo
Mouth (9) is put, cargo package (5) is transported to sales counter cargo storage mouth (9), external access part sales counter (1) lower part by gadget hand (6)
Equipped with access section (3) is deposited, the cargo package (5) at sales counter cargo storage mouth (9), which reaches, to be deposited at access section (3), control system control
System deposits access section (3) opening, realizes and takes out cargo package (5), the message input device on the external access part sales counter (1)
(2) cash register small change mouth is equipped with, inside is equipped with gravity measure device, barcode scanning device and label sticking machine.
2. self-service express delivery, which is posted, according to claim 1 takes device, it is characterised in that：The gadget hand (6) is disposed adjacent to
At external access part sales counter (1), gadget hand (6) installation position needs ensure to take away by movement in gadget hand (6)
Cargo package (5) in transmission device (8), and cargo can be wrapped up to the sales counter cargo that (5) are put into external access part sales counter (1)
It stores in mouth (9), transmission device (8) is applied in entire shelf (4) and places area, and transmission device (8) one side is shelf (4), shelf
(4) it is that both sides is set to store cargo package (5), both sides are placed with cargo package (5), and shelf (4) are divided into multiple field, shelf (4)
Placement belong to side by side arrangement, there are spaces between two shelf (4) for installing right angle coordinate manipulator (7), and space size can
To ensure that right angle coordinate manipulator (7) do not interfered after multifreedom motion reaches the limit of position, coordinate different size
Right angle coordinate manipulator (7), realize various specifications cargo package (5) quickly and easily access.
3. self-service express delivery, which is posted, according to claim 2 takes device, it is characterised in that：The gadget hand (6) is by gadget hand
Fixed station (13), vertical arm (14), horizontal arm (15), telescopic arm (16), clamping hand A (17) and positioning shooting head A (18)
It collectively constitutes, gadget hand fixed station (13) lower end is fixed on using fixed mode in ground or fixing device, and upper end is equipped with
Round platform, vertical arm (14) lower end is equipped with the matched installation of round platform, after gadget hand fixed station (13) coordinates with vertical arm (14)
Inside is equipped with the rotating mechanism for realizing that vertical arm (14) lower end round platform rotates, and vertical arm (14) can under the action of rotating mechanism
To realize the rotation along lower end round platform axis, type of drive is driven using motor.
4. self-service express delivery, which is posted, according to claim 3 takes device, it is characterised in that：Vertical arm (14) upper end is equipped with water
Flat arm (15), vertical arm (14) keep right angle setting with horizontal arm (15) and ensure steadily of centre of gravity at work, horizontal arm (15)
For hollow legn, telescopic arm (16) with horizontal arm (15) internal cavity by being fitted in horizontal arm (15), telescopic arm (16)
Job requirement can be met along telescopic arm (16) and the common axis telescopic slide of horizontal arm (15) in horizontal arm (15) cavity
Distance, the type of drive of slip is using hydraulic-driven, and telescopic arm (16) front end is tongue end plate, matched clamping hand
A (17) is symmetrically mounted on using groove card slot form on the tongue end plate of telescopic arm (16) front end, and telescopic arm (16) front end is equipped with
Positioning shooting head A (18), symmetrical two clamping hand A (17) can be slided to two Slideslips or simultaneously to center simultaneously,
Two clamping hand A (17), which coordinate, can make opening and closing campaign, be fed back by positioning shooting head A (18) position location, realize goods
The crawl of object package (5).
5. it is posted according to self-service express delivery described in claim 1-4 any one and takes device, it is characterised in that：The transmission device (8)
It is made of conveyer belt (10), roller (11) and fixed frame (12), transmission device (8) both ends are equipped with fixed frame (12), roller (11)
It is placed on fixed frame (12), roller (11) can be freely rotated on fixed frame (12), and transmission is installed on both ends roller (11)
Band (10), the rotation of roller (11) drive conveyer belt (10) to slide, cargo package (5) can be slided with conveyer belt (10) with
Conveyer belt (10) moves, for sending cargo package (5) crawl on shelf (4) to the rectangular co-ordinate machinery of transmission device (8)
Hand (7) can realize the slip for making tri- directions of X, Y, Z and the revolution of z axis direction, so as to capture each position on shelf (4)
Cargo wraps up the cargo package (5) on (5) and both sides shelf (4), and the right angle coordinate manipulator (7) is by tri- directions of X, Y, Z
Sliding equipment formed with z axis direction swing mechanism.
6. self-service express delivery, which is posted, according to claim 5 takes device, it is characterised in that：The X-direction sliding equipment is from X to straight line
Guide rail (19), screw A (20), stepper motor A (21) and X are formed to sliding stand (22), and X is to line slideway (19) by fixed
Mode is placed in ground or fixing device, and X ensures between line slideway (19) installation position is in two shelf (4)
Right angle coordinate manipulator (7) can wrap up (5) to the cargo in both racks (4) and realize crawl, and X is to line slideway (19) center
Position is equipped with leading screw A (20), and side is equipped with stepper motor A (21), there is transmission mechanism inside side, and X is to sliding stand (22)
Lower part is equipped with leading screw A (20) matching mechanism, and X is installed together to sliding stand (22) with leading screw A (20) by ball screw assembly, and
And X is fitted on line slideway (19) by slot, stepper motor A (21), which is rotated, drives leading screw A (20) to rotate, and X is to cunning
Dynamic platform (22) is slided in X to line slideway (19), the Y-direction sliding equipment by Y-direction travelling arm (26), clamping hand B (29),
Stepper motor D (32), positioning shooting head B (28) are formed with gear (31), and Y-direction travelling arm (26) is fitted to Z-direction by slot
In sliding stand (25) horizontal side, Y-direction travelling arm (26) is equipped with rack (27), passes through the step being mounted on Z-direction sliding stand (25)
Stepper motor D (32) can horizontally slip with gear (31) assemblage zone carry-over bar (27), and Y-direction travelling arm (26) front end is tongue end
Plate, matched clamping hand B (29) are symmetrically mounted on using groove card slot form on the tongue end plate of travelling arm (26) front end,
Y-direction travelling arm (26) front end is equipped with positioning shooting head B (28), and (5) are wrapped up by positioning shooting head B (28) positioning capturing cargo
Position, symmetrical two clamping hand B (29) can slide to center to two Slideslips or simultaneously simultaneously, two clamping hands
Portion B (29) cooperations can make opening and closing campaign, and z axis direction swing mechanism is by being mounted on X on sliding stand (22)
Stepper motor B (23) drives the rotating mechanism for being located at X to sliding stand (22) inside to move.
7. self-service express delivery, which is posted, according to claim 5 takes device, it is characterised in that：The Z-direction sliding equipment is by Z-direction straight line
Guide rail (24), Z-direction sliding stand (25), stepper motor C (30) and leading screw B (33) are formed, and X is equipped with circle to sliding stand (22) upper end
Platform, Z-direction line slideway (24) lower end are equipped with round platform and coordinate installation to sliding stand (22) upper end round platform with X, and installation ensures two round platforms
On the same axis, in Z-direction after Z-direction line slideway (24) installation, with X to line slideway (19) perpendicular shape, Z-direction straight line is led
Rail (24) center is equipped with leading screw B (33), and upside is equipped with stepper motor C (30), and upper interior has transmission mechanism, Z-direction
Sliding stand (25) is internally provided with leading screw B (33) matching mechanism, and Z-direction sliding stand (25) is pacified with leading screw B (33) by ball screw assembly,
It is fitted together, and the vertical side of Z-direction sliding stand (25) is fitted to by slot on Z-direction line slideway (24), stepper motor C
(30) rotating drives leading screw B (33) to rotate, and Z-direction sliding stand (25) is slided in Z-direction line slideway (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610074440.0A CN105600253B (en) | 2016-01-29 | 2016-01-29 | A kind of self-service express delivery, which is posted, takes device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610074440.0A CN105600253B (en) | 2016-01-29 | 2016-01-29 | A kind of self-service express delivery, which is posted, takes device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105600253A CN105600253A (en) | 2016-05-25 |
| CN105600253B true CN105600253B (en) | 2018-05-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610074440.0A Expired - Fee Related CN105600253B (en) | 2016-01-29 | 2016-01-29 | A kind of self-service express delivery, which is posted, takes device |
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| Country | Link |
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