CN107452154A - One kind automation express storage and pickup system - Google Patents

Abstract

An automated express access system, including a shell frame for providing support in terms of mechanical structure, a three-coordinate pick-and-place device for storing and picking up goods, a conveyor belt device for transporting goods, and pushing goods to the pick-and-place device Goods push device, shelves for storing goods, pick-up window for users to take away goods, and controllers and communication programs for control and communication. This system improves the automation of goods storage, user notification and pick-up as much as possible. To a certain extent, when the courier arrives, the courier puts it into the container, and the container can automatically allocate a reasonable storage location for it and store it, and at the same time inform the user of the pickup information. It can automatically find the corresponding goods and deliver them to the user. The labor intensity of the courier is reduced, and the efficiency can be greatly improved at the same time, so it has a good application prospect.

Description

An automated express access system

technical field

The present invention relates to terminal equipment in the logistics industry, in particular to an automated express delivery access system, which is a logistics terminal system capable of automatically accessing goods, automatically notifying users, and synchronizing cloud information.

Background technique

With the development of the economy, the logistics industry, as an "accelerator" of modern society, has developed rapidly and will continue to develop at a high speed. According to the survey, in 2015, each Chinese received more than ten express deliveries on average. "In the express delivery of ", each courier bends down to pick up and place the goods nearly 4,000 times a day when delivering the express. Therefore, the labor intensity of the courier profession is very high, and it takes a lot of time to wait for the user to pick up the goods. This process It consumes a lot of cost for the courier company.

As for the user side, the existing courier collection and access have time-limited and low-efficiency problems. The user experience is greatly affected by the service attitude of the courier, and there may be notification errors. The user experience needs to be improved urgently, while the conventional The self-lifting cabinet does not reduce the labor intensity of the courier, and there are still risks of notification errors and high delays to the user, which cannot solve this situation well.

In the disclosed express access devices of CN206147850U, CN106465053A, and CN104732668A, although the user can be automatically notified to pick up the piece, there is a certain degree of automation, but it does not reduce the labor of the courier and the user. Level improvement; and the express loading and unloading devices disclosed in CN106241166A, CN205114246U, CN204990421U, the mechanical structure used is heavy, cannot satisfy multiple users to access simultaneously, and the access efficiency is not suitable for the scene with large throughput.

Most of the other products or devices on the market can only complete basic express access, cannot communicate with the cloud platform, cannot automatically complete the user's instant notification and cloud update of the express status, and cannot meet the continuous growth of the logistics industry. Require.

The thorny "last mile" problem in the express delivery industry is a key place that hinders the development of logistics. If the problems of express companies, couriers and users can be better solved, the efficiency of express delivery will be greatly improved. The development of the Internet of Things also requires the logistics industry to realize cloud service and intelligence.

Contents of the invention

In order to overcome the above-mentioned defects in the prior art, the object of the present invention is to provide an automated express delivery access system, to build a low power consumption, wide-coverage application system of the Internet of Things technology in the logistics industry, which can bring efficiency improvements, real-time information Interactive, automated information and material delivery, and easy to expand and deploy.

In order to achieve the above object, technical scheme of the present invention is:

An automated express access system, including a shell frame 1 for providing support, at least one three-coordinate pick-and-place device 2 for storing and picking up goods, a conveyor belt device 3 for transferring goods, at least one for Push the goods to the goods pushing device 4 of the three-coordinate pick-and-place device 2, the shelf 5 for storing goods, the pick-up window 6 for the user to take the goods, and the controller 41.

The housing support 1 mainly includes the bottom mounting plate 7, the mounting plate 7 is installed with angle steel 8 in the horizontal and vertical directions to form a cuboid frame, the angle steel 8 is fixed through the installation flange 9, and the cuboid frame and the acrylic shell 10 pass through Fastened by bolt connection.

The three-coordinate pick-and-place device 2 includes an X-axis rack 36 and an X-axis linear guide 35 installed in parallel on the mounting plate 7, and the lower X-axis motor 12 is installed with the bottom layer through the X-axis rack 36 and the X-axis gear 38. A rack and pinion transmission pair is formed between the plates 7, the upper X-axis motor 17 is fixedly connected to the housing bracket 1 through bolts, and a belt transmission is formed between the upper X-axis motor 17 and the X-axis synchronous belt 16, and the X-axis synchronous belt 16 and the The Z-axis linear guide rail is fixed in the form of bolts to form a moving pair in the X direction. A moving pair is formed between the X-axis linear guide rail 35 and the motor base 31. A The Z-axis linear guide rail 15, the lower end of the Z-axis linear guide rail 15 is equipped with a motor base 31, the motor base 31 and the lower X-axis motor 12, and the Z-axis motor 11 are fixedly connected by bolts, and the Z-axis motor 11 and the Z-axis synchronous belt 13 A Z-direction belt drive is formed, and the Z-axis timing belt 13 and the fork-shaped pick-up base 39 are fixedly connected by bolts; the fork-shaped pick-up base 39 and the fork-shaped pick-up plate 37 form a Y-direction The sliding pair; Y-axis motor 14 and Y-axis synchronous belt 40 form a belt drive, and Y-axis synchronous 40 is connected with fork-shaped pallet 37 by bolts.

The conveyor belt device 3 includes an AC motor mounting base 34 installed on the mounting plate 7, the AC motor mounting base 34 is fixedly connected to the AC motor 26, and a belt transmission is formed between the AC motor 26 and the belt 27. Similarly, A belt drive is formed between the belt 27 and the drum 28 , a belt drive is formed between the drum 28 and the conveyor belt 29 , and the conveyor belt 29 is supported by a conveyor belt bracket 25 installed on the mounting plate 7 .

Described cargo pushing device 4 comprises the pushing bracket 23 that is bolted to conveyor belt bracket 25, is fixedly connected by bolt between pushing bracket 23 and pushing motor 22, forms a belt transmission between pushing motor 22 and pushing synchronous belt 30, pushes The synchronous belt 30 and the push plate 24 are fixedly connected by bolts, the push bracket 23 and the push slide rail 32 are fixed by bolts, and the push plate 24 and the push slide rail 32 form a moving pair by pushing the slide block 33 .

The shelf 5 includes a shelf bracket 20 fixedly connected to the angle steel 8 through a connecting flange 21. The shelf bracket 20 is a fork structure, that is, it is composed of several steel wire strips spaced apart from each other and parallel.

The picking window 6 includes a door 18 opened on the acrylic shell 10, the door 18 is fixed to the hinge 19, and the hinge 19 is fixed to the acrylic shell 10 by bolts.

Described controller 41 is installed on the installation board 7, and controller is divided into two parts, wherein a part adopts STM32F103RCT6 single-chip microcomputer as main control chip, is called as main control chip A, and another part adopts STM32F103ZET6 single-chip microcomputer as main control chip, is called It is the main control chip B, and the CAN bus protocol is used for communication between the two main control chips;

The functions of the main control chip A include:

(1) Code scanning: connect to a code scanning module through the RS232 serial port, for reading the barcode information of the goods scanned by the code scanning module at the entrance of the conveying device 3, and use it for subsequent processing;

(2) Receive user input: connect with a serial port touch input screen through the serial port, the user can touch the screen next to the pick-up window 6 to input the pick-up code, and the main control chip A reads the pick-up code and uses it for subsequent processing;

(3) Scheduling: When the express delivery enters the container entrance, the code scanning module scans the barcode. After the main control chip A receives the barcode information, it uses the shortest path algorithm to obtain the nearest cargo space, and then allocates the cargo space to the cargo, and then Bind the location information with the cargo information, store it in the memory, and notify the main control chip B to control the motor-driven handling mechanism to transport the goods to the corresponding location; when the user enters the pick-up code on the touch screen to pick up the goods, The main control chip A first verifies whether the pick-up code input by the user is correct from the cloud program, and if it is correct, obtains the corresponding barcode information of the goods, then finds the specific storage location of the goods from the memory according to the barcode information, and finally notifies the main control chip B to control The motor drives the transport mechanism to transport the goods to the pick-up window 6;

(4) Communication: When storing express delivery, the main control chip A connects a router connected to the Internet through an ESP8266 serial WIFI module, and then sends the barcode information of the goods to the cloud program; when the user picks up the goods, the main control chip A first Send the pick-up code entered by the user to the cloud program for verification, and then obtain the barcode information of the goods corresponding to the pick-up code from the cloud program after successful verification, so as to perform further pick-up operations.

The functions of the main control chip B include:

(1) Read sensor data: In order to determine the position of the express delivery on the conveyor belt and the movement limit position of each motor, photoelectric sensors are installed on both sides of the cargo pushing device 4 to detect whether the goods have arrived, and the movement limit position of each motor is installed with a limit Bit switch, while the main control chip B reads the data of these sensors and uses it as a control basis.

(2) Receive instructions from the main control chip A, and control the movement of the motor-driven mechanical structure: during the process of storing or taking out the express delivery, the main control chip A sends an access command, which contains the logical position of the cargo location, and the main control chip B After receiving the instruction, first convert the logical position of the cargo location into a specific physical location, and control the motor-driven mechanical mechanism to go to the corresponding location to store or take out the goods according to the data of each sensor.

The communication function of the main control chip A is two parts of the mobile phone App and the cloud program that communicate with it, and its functions include:

(1) Notify the user to pick up the courier: When the courier is stored, the main control chip A sends the barcode information of the goods to the cloud program through the WIFI chip and the Internet. Query the corresponding recipient information in the database. After obtaining the recipient information, on the one hand, notify the user to pick up the courier via SMS, and on the other hand, send a push message to the App installed on the user's mobile phone to remind the user to pick up the goods. Can generate a barcode for picking up the goods, so that the user does not need to manually enter the picking up code when picking up the goods, and can directly scan the barcode generated on the App to complete the picking up operation;

(2) Real-time query of courier information: There are some states in the process of the goods from being sent to being picked up by the user, such as in transit, waiting to be picked up, picked up or rejected. Every time the state changes, the cloud program will update the database The status value of the corresponding courier information, so the user can obtain the status information of the courier in real time from the cloud program through the App.

The advantages of the present invention are:

(1) The present invention enables the courier to place couriers at the entrance of the conveyor belt device 3 in a concentrated manner, without having to deposit goods at each location, which greatly reduces the labor intensity of the courier.

(2) The three-coordinate pick-and-place device 2 and the shelf 5 in the present invention adopt a fork-type structure, which improves the pick-and-place efficiency compared with the traditional manipulator structure;

(3) The present invention adopts an expandable design, which can increase or decrease the loading and unloading mechanism and shelves according to actual needs;

(4) The present invention can automatically and timely notify the user to pick up the courier through SMS and mobile app push when storing the courier, and the user can query the status of the courier in real time on the mobile app, eliminating the notification delay and facilitating the user to arrange time flexibly .

(5) The present invention supports scanning the barcode to pick up the courier when the user picks up the courier, and can automatically perform cloud verification and take out the courier from the correct location to the user, without the need for the courier to personally verify, and is simple and easy to use.

Description of drawings

Fig. 1 is a perspective view of the present invention.

Fig. 2 is a front view of the present invention.

Figure 3 is a side view of the present invention.

FIG. 4 is a schematic diagram of the three-coordinate pick-and-place device 2 and the conveyor belt device 3 .

Fig. 5 is a schematic diagram of item flow and information flow in the process of sending goods to inventory.

Fig. 6 is a schematic diagram of item flow and information flow in the pick-up process.

detailed description

The present invention is described in detail below in conjunction with accompanying drawing.

Referring to FIG. 1 , an automated express access system includes a shell frame 1 for providing support, at least one three-coordinate pick-and-place device 2 for storing and picking up goods, a conveyor belt device 3 for transferring goods, At least one cargo pushing device 4 for pushing the cargo to the three-coordinate pick-and-place cargo device 2 , a shelf 5 for storing the cargo, a pick-up window 6 for the user to pick up the cargo, and a controller 41 .

With reference to Fig. 2, Fig. 3, described shell support 1 mainly comprises the mounting plate 7 of bottom, and the horizontal and vertical direction of mounting plate 7 is installed with angle steel 8 to form cuboid framework, between angle steel 8 is affixed by mounting flange 9, The cuboid frame and the acrylic housing 10 are fixedly connected by bolts.

Referring to Fig. 2, Fig. 3 and Fig. 4, the three-coordinate pick-and-place device 2 includes an X-axis rack 36 and an X-axis linear guide rail 35 installed in parallel on the mounting plate 7, and the lower X-axis motor 12 passes through the X-axis gear A rack and pinion transmission pair is formed between the bar 36 and the X-axis gear 38 and the bottom mounting plate 7. The upper X-axis motor 17 is fixedly connected to the housing bracket 1 through bolts, and the upper X-axis motor 17 and the X-axis synchronous belt 16 are formed. A belt transmission, the X-axis timing belt 16 and the Z-axis linear guide rail are fixed in the form of bolts to form a moving pair in the X direction. A moving pair is formed between the X-axis linear guide rail 35 and the motor base 31, and the X-axis is passed through the gear teeth. There are two ways of double drive, the belt and the synchronous belt, and the movement is more flexible. A Z-axis linear guide 15 is arranged between the X-axis linear guide 35 and the X-axis synchronous belt 16, and the lower end of the Z-axis linear guide 15 is equipped with a motor seat 31, and the motor seat 31 and the lower X-axis motor 12 and the Z-axis motor 11 are connected by bolts The Z-axis motor 11 and the Z-axis synchronous belt 13 form a Z-direction belt drive, and the Z-axis synchronous belt 13 and the fork-shaped pick-up base 39 are fixedly connected by bolts, so that the Z-axis synchronous belt 13 drives the fork The fork-shaped pick-up base 39 moves up and down; the fork-shaped pick-up base 39 and the fork-shaped pick-up plate 37 form a Y-direction sliding pair through the side chute; the Y-axis motor 14 and the Y-axis synchronous belt 40 form a belt drive , the Y-axis synchronization 40 and the fork-shaped picking plate 37 are fixedly connected by bolts to realize the movement of the fork-shaped picking plate in the Y direction. Pick up and release the goods.

With reference to Fig. 4, described conveyer belt device 3 comprises the AC motor installation base 34 installed on the mounting plate 7, the AC motor installation base 34 is fixedly connected with the AC motor 26, thereby realizing the connection between the AC motor 26 and the shell support 1 Fixed connection, a belt drive is formed between the AC motor 26 and the belt 27. Similarly, a belt drive is formed between the belt 27 and the drum 28, and a belt drive is formed between the drum 28 and the conveyor belt 29, thereby driving the conveyor belt. The conveyor belt 29 is supported by a conveyor belt bracket 25 mounted on the mounting plate 7 .

Described cargo pushing device 4 comprises the pushing bracket 23 that is bolted to conveyor belt bracket 25, is fixedly connected by bolt between pushing bracket 23 and pushing motor 22, forms a belt transmission between pushing motor 22 and pushing synchronous belt 30, pushes The timing belt 30 and the push plate 24 are fixedly connected by bolts, thereby driving the push plate 24 to move, the push bracket 23 and the push slide rail 32 are fixedly connected by bolts, and the push plate 24 and the push slide rail 32 form a movement through the push slide block 33 vice, so that the push plate 24 moves.

The shelf 5 includes a cargo space bracket 20 fixedly connected to the angle steel 8 through a connecting flange 21. The cargo space bracket 20 is in the shape of a cargo fork, that is, it is composed of several steel wire strips spaced apart from each other and parallel.

The picking window 6 includes a door 18 opened on the acrylic shell 10, the door 18 is fixed to the hinge 19, and the hinge 19 is fixed to the acrylic shell 10 by bolts, thereby forming the door 18 and the acrylic shell 10. Rotation pair between.

Described controller 41 is installed on the installation board 7, and controller is divided into two parts, wherein a part adopts STM32F103RCT6 single-chip microcomputer as main control chip, is called as main control chip A, and another part adopts STM32F103ZET6 single-chip microcomputer as main control chip, is called It is the main control chip B, and the CAN bus protocol is used for communication between the two main control chips;

The functions of the main control chip A include:

(1) Code scanning: connect to a code scanning module through the RS232 serial port, for reading the barcode information of the goods scanned by the code scanning module at the entrance of the conveying device 3, and use it for subsequent processing;

(2) Receive user input: connect with a serial port touch input screen through the serial port, the user can touch the screen next to the pick-up window 6 to input the pick-up code, and the main control chip A reads the pick-up code and uses it for subsequent processing;

(3) Scheduling: When the express delivery enters the container entrance, the code scanning module scans the barcode. After the main control chip A receives the barcode information, it uses the shortest path algorithm to obtain the nearest cargo space, and then allocates the cargo space to the cargo, and then Bind the location information with the cargo information, store it in the memory, and notify the main control chip B to control the motor-driven handling mechanism to transport the goods to the corresponding location; when the user enters the pick-up code on the touch screen to pick up the goods, The main control chip A first verifies whether the pick-up code input by the user is correct from the cloud program, and if it is correct, obtains the corresponding barcode information of the goods, then finds the specific storage location of the goods from the memory according to the barcode information, and finally notifies the main control chip B to control The motor drives the transport mechanism to transport the goods to the pick-up window 6;

(4) Communication: When storing express delivery, the main control chip A connects a router connected to the Internet through an ESP8266 serial WIFI module, and then sends the barcode information of the goods to the cloud program; when the user picks up the goods, the main control chip A first Send the pick-up code entered by the user to the cloud program for verification, and then obtain the barcode information of the goods corresponding to the pick-up code from the cloud program after successful verification, so as to perform further pick-up operations.

The functions of the main control chip B include:

(1) Read sensor data: In order to determine the position of the express delivery on the conveyor belt and the movement limit position of each motor, photoelectric sensors are installed on both sides of the cargo pushing device 4 to detect whether the goods have arrived, and the movement limit position of each motor is installed with a limit Bit switch, while the main control chip B reads the data of these sensors and uses it as a control basis.

(2) Receive instructions from the main control chip A, and control the movement of the motor-driven mechanical structure: during the process of storing or taking out the express delivery, the main control chip A sends an access command, which contains the logical position of the cargo location, and the main control chip B After receiving the instruction, first convert the logical position of the cargo location into a specific physical location, and control the motor-driven mechanical mechanism to go to the corresponding location to store or take out the goods according to the data of each sensor.

The communication function of the main control chip A is two parts of the mobile phone App and the cloud program that communicate with it, and its functions include:

(1) Notify the user to pick up the courier: When the courier is stored, the main control chip A sends the barcode information of the goods to the cloud program through the WIFI chip and the Internet. Query the corresponding recipient information in the database. After obtaining the recipient information, on the one hand, notify the user to pick up the courier via SMS, and on the other hand, send a push message to the App installed on the user's mobile phone to remind the user to pick up the courier. Can generate a barcode for picking up the goods, so that the user does not need to manually enter the picking up code when picking up the goods, and can directly scan the barcode generated on the App to complete the picking up operation; the two methods are used to notify the user at the same time, so that the user can choose , choose the appropriate one for express delivery according to your own situation, which is simpler and easier to use.

(2) Real-time query of courier information: There are some states in the process of the goods from being sent to being picked up by the user, such as in transit, waiting to be picked up, picked up or rejected. Every time the state changes, the cloud program will update the database The status value of the corresponding courier information, so the user can obtain the status information of the courier in real time from the cloud program through the App.

With reference to Fig. 5, Fig. 6, the specific working process of the present invention is as follows:

In the first step, the courier sends the goods to the conveyor belt at the entrance of the goods. The scanner above the entrance of the goods can scan the express barcode on the package of the goods. The shortest path from the starting point of the delivery device to the target position, the goods are transported to the pick-and-place device with the conveyor belt, the pusher baffle pushes the goods to the fork-type rack parallel to the conveyor belt, and the motor drives the pick-up rack to move to the fork allocated for the goods On the shelf, it is stored with a unique fork structure.

In the second step, while in stock, the scanner processes the waybill information obtained by scanning the barcode, assigns a pick-up code, and uploads it to the server through the WiFi module, and queries it in the express company database to obtain the recipient information. Then, the cloud service can be used to send a short message containing the pick-up code and pick-up location to the customer's mobile phone. If the user's mobile phone has downloaded the APP and logged in, the cloud server will also push this information to the mobile APP and send the courier information Real-time updates are performed on the APP of the user's mobile phone.

In the third step, the user goes to the device, chooses a pick-up port, and can choose two kinds of pick-up operations, directly input the pick-up code through the button LCD panel, or call the barcode at the mobile APP, Scan the code scanning module to check the pickup information. After receiving the pick-up information from the user, the system will upload the pick-up information to the server through the WiFi module, and the server will pass the verification. If the pick-up code is correct, the pick-up instruction will be sent to the system.

Step 4: After the system receives the pick-up instruction, it retrieves the corresponding position of the goods and calculates the shortest path between the shelf and the pick-up port, and then the fork-type pick-and-place device moves to the shelf, and cooperates with the fork-type shelf to take out the target goods. Driven by the motor, it is quickly delivered to the fork-type shelf at the pick-up port according to the shortest path. After the user takes it out, the pick-up operation can be completed. At the same time, the system reports the pickup status to the server, and the server program updates the courier information. When the user inquires through the APP, he can inquire about the latest status of the courier (location, whether to pick it up, etc.).

Mechanical part operating principle of the present invention is:

When stocking, the first step is that the three-coordinate pick-and-place device 2 returns to the working origin (that is, the fork-shaped pick-up plate 37 returns to the place where the goods push device 4 pushes out the goods), and the Y-axis motor 14 rotates counterclockwise to drive the Y-axis synchronous belt 40 to rotate , and the Y-axis synchronous belt and the fork-shaped pallet 37 are fixedly connected by bolts, the fork-shaped pallet 37 moves in the negative direction of the Y-axis, and the Y-axis motor 14 stops moving after contacting the Y-axis direction limit switch. At the same time, the push motor 22 rotates counterclockwise to drive the push synchronous belt 30 to rotate. And between the synchronous belt 30 and the push plate 24 are fixedly connected by bolts, and drive the goods pushing device to move positively to the Y axis, and the pushing motor 22 stops after touching the limit switch. The lower X-axis motor 12 rotates clockwise, through the rack and pinion transmission of the X-axis gear 38 and the X-axis rack 36, the fork-shaped picking plate 37 moves to the positive direction of the X-axis, and the lower X-axis motor contacts the X-axis limit switch. 12 stops. So far, the three-coordinate pick-and-place device 2 returns to the working origin.

The second step is that the conveyor belt device 3 transports the goods to the goods pushing device 4 from the inlet. The Z-axis motor 11 rotates clockwise, and the fork-shaped picking plate 37 is driven to move in the negative direction of the Z-axis through the Z-axis synchronous belt 13, and the Z-axis motor 11 stops after contacting the Z-axis limit switch. The AC motor 26 rotates counterclockwise, and the belt 27 drives the conveyor belt 29 to rotate, and the conveyor belt 29 moves the goods placed on it to the positive direction of the X axis.

The third step is that the pushing device 4 pushes the goods onto the three-coordinate pick-and-place device 2 . When the goods arrive at the push device 4, the laser is triggered, the controller controls the frequency and speed, reduces the rotation speed of the AC motor 26, and controls the push motor 22 to rotate clockwise through a preset angle, and the push plate 24 pushes the goods to the fork-shaped pick-up plate 37 on. The push motor 22 rotates counterclockwise until it stops after touching the limit switch, and the alternating current motor speed recovers.

The fourth step is that the three-coordinate pick-and-place device 2 transports the goods to the shelf 5 . The controller first queries the free storage space, and calculates the shortest storage path, and then controls the three-coordinate pick-and-place device 2 to move to the free storage space. Bottom X-axis motor 12 rotates counterclockwise to set the angle, and through the rack-and-pinion transmission of X-axis gear 38 and X-axis rack 36, the fork-shaped cargo picking plate 37 moves to the X-axis negative direction and stops after the set distance. At the same time, the Z-axis motor 11 rotates counterclockwise, and the fork-shaped picking plate 37 is driven by the Z-axis synchronous belt 13 to move a set distance in the positive direction of the Z-axis and then stop. At this time, the fork-shaped picking plate 37 is 10 mm higher than the shelf in the Z-axis direction, and the Y-axis motor 14 rotates clockwise to drive the Y-axis synchronous belt 40 to rotate, and the fork-shaped picking plate 37 moves a set distance in the positive direction of the Y-axis stop after. Afterwards, the Z-axis motor 11 rotates clockwise, and the fork-shaped cargo picking plate 37 is driven by the Z-axis synchronous belt 13 to stop after the Z-axis negative direction moves a set distance. Now, the fork-shaped picking plate 37 is 10 mm lower than the shelf in the Z-axis direction, the fork-shaped picking plate 37 passes through the gap of the shelf 5, and the goods stay on the shelf, and the Y-axis motor 14 rotates counterclockwise to drive the Y-axis synchronously. When the belt 40 rotates, the fork-shaped cargo picking plate 37 moves in the negative direction of the Y-axis, and the Y-axis motor 14 stops moving after contacting the limit switch in the Y-axis direction.

The fifth step is that the controller sends the scanned express barcode information to the cloud program, and the cloud program queries the recipient information from the database, and at the same time sends a notification message and mobile app push to the recipient to notify the user to come to pick up the express. So far the inventory process is complete.

When picking up the goods, the first step is that the user scans the pick-up code through the mobile app or manually enters the pick-up code on the touch screen, and then the controller first sends the pick-up code to the cloud for verification. After the verification is successful, the controller obtains the corresponding goods from the cloud. Barcode information, and query the specific storage location of the goods from the memory according to the barcode information, and then send a pick-up instruction to the main control chip responsible for picking up the goods, and the chip controls the motor to drive the pick-and-place device to pick up the goods.

The second step is that the three-coordinate pick-and-place device 2 takes out the goods from the shelf 5 . The controller calculates the shortest path of motion according to the current position of the fork-shaped pallet 37 and the target shelf. Below X-axis motor 12 rotates setting angle, by the rack-and-pinion transmission of X-axis gear 38, X-axis rack 36, the fork-shaped cargo picking plate 37 moves along the X-axis and stops after setting distance. At the same time, the Z-axis motor 11 rotates to set an angle, and the fork-shaped picking plate 37 is driven by the Z-axis synchronous belt 13 to stop after moving a set distance along the Z-axis. At this time, the fork-shaped picking plate 37 is 10 mm lower than the shelf in the Z-axis direction. Y-axis motor 14 rotates clockwise to drive Y-axis synchronous belt 40 to rotate, and the fork-shaped cargo picking plate 37 moves to the Y-axis positive direction after a set distance and stops. Afterwards, the Z-axis motor 11 rotates counterclockwise, and the fork-shaped cargo picking plate 37 is driven by the Z-axis synchronous belt 13 to stop after the Z-axis positive direction moves a set distance. Now, the fork-shaped pallet 37 is 10 millimeters higher than the shelf in the Z-axis direction, the fork-shaped pallet 37 passes through the gap of the shelf 5, and the goods are transferred from the shelf to the fork-shaped pallet, and the Y-axis motor 14 reverses The clockwise rotation drives the Y-axis synchronous belt 40 to rotate, and the fork-shaped pallet 37 moves to the Y-axis negative direction, and the Y-axis motor 14 stops moving after contacting the Y-axis direction limit switch.

The third step is that the three-coordinate pick-and-place device 2 places the goods on the shelf at the pick-up window. The controller calculates the shortest path of motion according to the current position of the fork-shaped pallet 37 and the target shelf. Below X-axis motor 12 rotates setting angle, by the rack-and-pinion transmission of X-axis gear 38, X-axis rack 36, the fork-shaped cargo picking plate 37 moves along the X-axis and stops after setting distance. At the same time, the Z-axis motor 11 rotates to set an angle, and the fork-shaped picking plate 37 is driven by the Z-axis synchronous belt 13 to stop after moving a set distance along the Z-axis. At this time, the fork-shaped picking plate 37 is 10 mm higher than the shelf in the Z-axis direction. Y-axis motor 14 rotates clockwise to drive Y-axis synchronous belt 40 to rotate, and the fork-shaped cargo picking plate 37 moves to the Y-axis positive direction after a set distance and stops. Afterwards, the Z-axis motor 11 rotates clockwise, and the fork-shaped cargo picking plate 37 is driven by the Z-axis synchronous belt 13 to stop after the Z-axis negative direction moves a set distance. Now, the fork-shaped picking plate 37 is 10 mm lower than the shelf in the Z-axis direction, the fork-shaped picking plate 37 passes through the gap of the shelf 5, and the goods stay on the shelf, and the Y-axis motor 14 rotates counterclockwise to drive the Y-axis synchronously. When the belt 40 rotates, the fork-shaped cargo picking plate 37 moves in the negative direction of the Y-axis, and the Y-axis motor 14 stops moving after contacting the limit switch in the Y-axis direction.

The fourth step is to open the pick-up window, and the controller opens the pick-up window, so far, the pick-up process is completed.

Claims (10)

1. An automated express access system, characterized in that it comprises a shell frame (1) for providing support, at least one three-coordinate pick-and-place device (2) for storing goods and picking up goods, and for transmitting The conveyor belt device (3) for the goods, at least one goods pushing device (4) for pushing the goods to the three-coordinate pick-and-place unit (2), the shelf (5) for storing the goods, and the pick-up window for the user to take away the goods (6) and a controller (41). 2. A kind of automated express delivery access system according to claim 1, characterized in that, said housing support (1) mainly comprises a bottom mounting plate (7), and the horizontal and vertical directions of the mounting plate (7) Angle steels (8) are installed to form a cuboid frame, and the angle steels (8) are fixedly connected by mounting flanges (9), and the cuboid frame and the acrylic shell (10) are fixedly connected by bolts. 3. A kind of automated express access system according to claim 1, characterized in that, said three-coordinate pick-and-place device (2) comprises an X-axis rack (36) installed in parallel on the mounting plate (7) ) and the X-axis linear guide rail (35), the lower X-axis motor (12) forms a rack-and-pinion transmission pair between the X-axis rack (36) and the X-axis gear (38) and the bottom mounting plate (7), and the upper The X-axis motor (17) is fixedly connected to the shell bracket (1) by bolts, and a belt transmission is formed between the upper X-axis motor (17) and the X-axis timing belt (16), and the X-axis timing belt (16) is in line with the Z-axis The guide rails are fixed in the form of bolts to form a moving pair in the X direction. A moving pair is formed between the X-axis linear guide rail (35) and the motor base (31). The X-axis linear guide rail (35) and the X-axis timing belt (16 ) is provided with a Z-axis linear guide rail (15), the lower end of the Z-axis linear guide rail (15) is equipped with a motor base (31), and the motor base (31) and the lower X-axis motor (12) and Z-axis motor (11) pass through The way of bolt connection is fixed, the Z-axis motor (11) and the Z-axis synchronous belt (13) form a Z-direction belt drive, and the Z-axis synchronous belt (13) and the fork-shaped pick-up base (39) are fixed by bolt connection. connected; the fork-shaped pick-up base (39) and the fork-shaped pick-up plate (37) form a Y-directed sliding pair through the side chute; the Y-axis motor (14) and the Y-axis synchronous belt (40) form a belt Transmission, Y-axis synchronization (40) and the fork-shaped pallet (37) are fixedly connected by bolts. 4. A kind of automatic express access system according to claim 1, characterized in that, the conveyor belt device (3) comprises an AC motor mounting base (34) installed on the mounting plate (7), and the AC motor The installation base (34) is fixedly connected with the AC motor (26), and a belt transmission is formed between the AC motor (26) and the belt (27). Similarly, a belt transmission is formed between the belt (27) and the drum (28). , Form a belt drive between the cylinder (28) and the conveyor belt (29), and the conveyor belt (29) is supported by a conveyor belt bracket (25) installed on the mounting plate (7). 5. A kind of automatic express access system according to claim 1, is characterized in that, described cargo pushing device (4) comprises the pushing bracket (23) that is affixed with conveyor belt bracket (25) bolt, pushes bracket ( 23) is fixedly connected with the push motor (22) by bolts, a belt drive is formed between the push motor (22) and the push timing belt (30), and a bolt is used between the push timing belt (30) and the push plate (24) Fixed connection, push support (23) and push slide rail (32) are fixedly connected by bolt, push plate (24) and push slide rail (32) form a mobile pair by pushing slide block (33). 6. An automated express access system according to claim 1, characterized in that, the shelf (5) includes a shelf (20) fixed to the angle steel (8) through a connecting flange (21) , The cargo space support (20) is a fork structure, that is, it is composed of several steel wire strips spaced apart from each other and parallel. 7. A kind of automatic express access system according to claim 1, characterized in that, said pick-up window (6) comprises a door (18) opened on the acrylic shell (10), the door (18 ) is affixed to the hinge (19), and the hinge (19) is affixed to the acrylic shell (10) by bolts. 8. A kind of automatic express access system according to claim 1, characterized in that, the controller (41) is installed on the mounting board (7), and the controller is divided into two parts, a part of which adopts STM32F103RCT6 The single-chip microcomputer is used as the main control chip, which is called the main control chip A, and the other part uses the STM32F103ZET6 single-chip microcomputer as the main control chip, which is called the main control chip B. The CAN bus protocol is used for communication between the two main control chips. 9. A kind of automatic express delivery access system according to claim 8, is characterized in that, the function of described main control chip A comprises: (1) Code scanning: connect to a code scanning module through the RS232 serial port, for reading the barcode information of the goods scanned by the code scanning module at the entrance of the conveying device 3, and use it for subsequent processing; (2) Receive user input: connect with a serial port touch input screen through the serial port, the user can touch the screen next to the pick-up window 6 to input the pick-up code, and the main control chip A reads the pick-up code and uses it for subsequent processing; (3) Scheduling: When the express delivery enters the container entrance, the code scanning module scans the barcode. After the main control chip A receives the barcode information, it uses the shortest path algorithm to obtain the nearest cargo space, and then allocates the cargo space to the cargo, and then Bind the location information with the cargo information, store it in the memory, and notify the main control chip B to control the motor-driven handling mechanism to transport the goods to the corresponding location; when the user enters the pick-up code on the touch screen to pick up the goods, The main control chip A first verifies whether the pick-up code input by the user is correct from the cloud program, and if it is correct, obtains the corresponding barcode information of the goods, then finds the specific storage location of the goods from the memory according to the barcode information, and finally notifies the main control chip B to control The motor drives the transport mechanism to transport the goods to the pick-up window 6; (4) Communication: When storing express delivery, the main control chip A connects a router connected to the Internet through an ESP8266 serial WIFI module, and then sends the barcode information of the goods to the cloud program; when the user picks up the goods, the main control chip A first Send the pick-up code entered by the user to the cloud program for verification, and then obtain the barcode information of the goods corresponding to the pick-up code from the cloud program after successful verification, so as to perform further pick-up operations. 10. A kind of automatic express access system according to claim 8, is characterized in that, the function of described main control chip B comprises: (1) Read sensor data: In order to determine the position of the express delivery on the conveyor belt and the movement limit position of each motor, photoelectric sensors are installed on both sides of the cargo pushing device 4 to detect whether the goods have arrived, and the movement limit position of each motor is installed with a limit Bit switch, while the main control chip B reads the data of these sensors and uses it as a control basis. (2) Receive instructions from the main control chip A, and control the movement of the motor-driven mechanical structure: during the process of storing or taking out the express delivery, the main control chip A sends an access command, which contains the logical position of the cargo location, and the main control chip B After receiving the instruction, first convert the logical position of the cargo location into a specific physical location, and control the motor-driven mechanical mechanism to go to the corresponding location to store or take out the goods according to the data of each sensor. The communication function of the main control chip A is two parts of the mobile phone App and the cloud program that communicate with it, and its functions include: (1) Notify the user to pick up the courier: When the courier is stored, the main control chip A sends the barcode information of the goods to the cloud program through the WIFI chip and the Internet. Query the corresponding recipient information in the database. After obtaining the recipient information, on the one hand, notify the user to pick up the courier via SMS, and on the other hand, send a push message to the App installed on the user's mobile phone to remind the user to pick up the goods. Can generate a barcode for picking up the goods, so that the user does not need to manually enter the picking up code when picking up the goods, and can directly scan the barcode generated on the App to complete the picking up operation; (2) Real-time query of courier information: There are some states in the process of the goods from being sent to being picked up by the user, such as in transit, waiting to be picked up, picked up or rejected. Every time the state changes, the cloud program will update the database The status value of the corresponding courier information, so the user can obtain the status information of the courier in real time from the cloud program through the App.