CN108402866A - A kind of express delivery bulk-breaking based on three axis mobile platforms and ask for terminal system and method - Google Patents

Abstract

A system and method for express parcel sorting and self-pickup terminal based on a three-axis mobile platform, belonging to the technical field of smart logistics terminals, including an entry platform, a three-axis mobile platform, express storage cabinets, a pick-up terminal, a camera identification module and system information Management module; the method is as follows: step 1, the package enters the system device from the inlet and temporarily stores it on the loading platform, and pushes the manipulator to pick up a single package; step 2, according to the barcode information and package size information collected by the camera identification module, the system automatically distributes The storage cabinet gives the current package, and the three-axis mobile platform intelligently separates the package into the warehouse; step 3, the system notifies the self-pickup in the form of a text message. The pickup result is fed back to the system information management module for further processing. The present invention is convenient and fast, has good reliability, greatly improves the speed of the express logistics terminal, and has strong practicability.

Description

A system and method for express delivery and self-collection terminals based on a three-axis mobile platform

technical field

The invention belongs to the technical field of smart logistics terminals, and in particular relates to a system and method for express delivery and self-collection terminals based on a three-axis mobile platform.

Background technique

With the rapid development of e-commerce and information network technology, among the existing technologies, intelligent express delivery cabinets are the most common intelligent solutions for the "last mile" distribution of express logistics.

According to the data released by the China Logistics Information Center, at the end of 2017, there were about 170,000 express cabinet outlets across the country, with a daily delivery volume of 5.5 million orders, accounting for 6.8%. It is estimated that by 2020, there will be about 350,000 outlets nationwide. It will account for about 30% of the delivery volume. Since China's traditional logistics industry is not very efficient, it is the most important investment logic and strategy to improve the operational efficiency of traditional industries through new models and technologies. According to the analysis of related reports, when concentrated on the scene of the campus, the first express company is unwilling to enter the campus, and likes to set up a stall at the gate; the second express company will easily cause the environment to be dirty after entering the school; Asymmetry is unwilling to go out to pick up the package, and the use of self-collection cabinets can realize an unmanned express delivery method. The courier only needs to deliver the courier to the self-collection cabinet. Arrange to pick up the courier at the self-collection cabinet according to the scheduled time, so as to realize the whole express delivery process.

But in the existing technology, the courier has to deliver to the corresponding cabinet according to the package information and size. The difference in height also brings inconvenience to the pickers, which may affect the promotion and use of self-collection cabinets. Therefore, there is an urgent need for a novel technical solution in the prior art to solve this problem.

Contents of the invention

The technical problem to be solved by the present invention is to provide a system and method based on a three-axis mobile platform for express delivery and self-collection terminals, which is convenient, fast, and reliable, and fully considers that the courier must deliver the package according to the package information and size. In the self-pickup cabinet, it is inconvenient for the courier when the number of couriers is large, and it takes a lot of time and cost, and the height of the self-pickup cabinet also brings inconvenience to the picker, which greatly improves the The speed of the express logistics terminal is strong in practicability.

A kind of express parcel sorting and self-pickup terminal system based on a three-axis mobile platform, which is characterized in that it includes an entry platform, a three-axis mobile platform, an express storage cabinet, a pick-up terminal, a camera identification module, and a system information management module. The entry platform includes an entry port, an express transportation channel and a loading platform, the entry port is arranged at one end of the express transportation channel, and the other end of the express delivery channel is provided with a loading platform;

The three-axis mobile platform includes a three-axis mechanism and a push manipulator; the three-axis mechanism includes an X-axis geared motor, a Y-axis stepping motor, a Z-axis stepping motor, an X-axis synchronous guide wheel, an X-axis slide bar guide rail, an X-axis shaft drive screw, Y-axis synchronous guide wheel, Y-axis slide bar guide rail, Y-axis drive screw, Z-axis slide bar guide rail, Z-axis synchronous belt, and object bearing plate; In the upper part, the X-axis drive screw is provided with an X-axis deceleration motor and an X-axis synchronous guide wheel; the Z-axis slide bar guide rail is nested and connected with the X-axis slide bar guide rail, and the Z-axis stepping motor is synchronized with the Z-axis Belt connection; the Y-axis slide bar guide rail is nestedly connected with the Z-axis slide bar guide rail, one end of the Y-axis drive screw is provided with a Y-axis stepping motor, and the Y-axis synchronous guide wheels are two, which are set on the Y-axis on the shaft drive screw;

The manipulator includes a diamond-shaped telescopic structure, a multi-degree-of-freedom mechanical arm, an air suction nozzle, a gripper of the mechanical arm, a gear, and an air suction device. The multi-degree-of-freedom mechanical arm is connected; the multi-degree-of-freedom mechanical arm is connected with the jaws of the mechanical arm, and a gear is provided on one side of the two jaws of the mechanical arm jaw, and the two gears are meshed, and the air suction pipe mouth Set in the middle position on one side of the gripper gear of the robotic arm;

The express storage cabinet includes a right storage cabinet and a left storage cabinet, and the right storage cabinet and the left storage cabinet are provided with a three-axis mechanism activity area, and one end of the three-axis mechanism activity area is provided with an outlet;

The pick-up terminal includes a display screen, a data receiving module and a data transmission module;

The camera identification module includes an optical camera and a barcode analysis module;

The system information management module includes a logistics management background module, a data receiving module, a data transmission module and a processor.

The air suction device includes a ducted fan and an air suction channel.

A method for express delivery and self-collection based on a three-axis mobile platform, characterized in that: applying the express delivery and self-collection terminal system based on a three-axis mobile platform described in claim 1, comprising the following steps, and the following The steps are carried out sequentially,

Step 1. Package storage

According to the rule of placing the barcode facing up, the operator sends the package from the entry port into the express transportation channel. The express transportation channel is automatically activated by gravity, and the packages are sequentially transmitted to the loading platform for temporary storage, and the system information management module sends them into the warehouse. command, the three-axis mobile platform starts; the initial position of the push manipulator is at the starting end of the loading platform, and the gear on the manipulator is pushed to mesh with the circuit device to control the opening angle of the manipulator's jaws, and the manipulator is pushed to grab a single package in the horizontal direction; the air suction device starts, Detect and push the manipulator to grab the package successfully, and continue to execute the package storage command; the air suction device detects that the push manipulator fails to pick up the package, and the system repeats the clamping action until the package is successfully picked up, and continues to execute the package storage command;

Step 2. Smart Partitioning

A. The optical camera captures the barcode image on the package and the appearance image of the package in real time, and inputs the captured barcode image into the barcode recognition module for barcode recognition, and uploads the captured appearance image to the system information management module for identification and entry of package appearance size information;

B. The barcode recognition module performs rectangular area cutting, correction, grayscale processing and binarization processing on the barcode image, reads the content information of the barcode and uploads the data to the logistics management background module; the system information management module is based on the collected package size Information distribution express cabinet cabinet, with the initial position of the three-axis mobile platform as the reference origin, the system automatically matches the storage path according to the cabinet number, set to The directions of the x-axis, y-axis, and z-axis are the defined positive directions, and the storage order is sent to the three-axis mobile platform;

C. According to the cabinet location coordinates given in the storage order First, the Y-axis stepping motor starts and drives the Y-axis synchronous guide wheel to drive the Y-axis to drive the screw to rotate, the bearing plate obtains a lateral displacement, advances y unit distance, the position of the Y-axis is determined, and the Y-axis stepping motor stops; the Z-axis steps The motor starts and drives the Z-axis synchronous belt transmission, the bearing plate obtains a vertical displacement, rises Z unit distance, the Z-axis position is determined, and the Z-axis stepping motor stops; the X-axis deceleration motor starts and drives the X-axis to drive the screw to rotate, and the bearing The object board obtains a lateral displacement, advances X unit distance, the object board accurately reaches the entrance of the specified cabinet, the diamond-shaped telescopic structure is extended, the manipulator is pushed to push the package into the cabinet, the ducted fan stops, the suction disappears, and the mechanical arm clamps The claw is released, the package is successfully put into storage, and the storage information is fed back to the system information management module;

Step 3. Notification Self-collection

A. The system information management module sends the pick-up code to the pick-up person's mobile device in the form of information;

B. When the picker triggers the pick-up request operation of the pick-up terminal, the pick-up terminal uploads the pick-up code input by the picker to the system information management module through the data transmission module, and the system automatically searches and compares the logistics management background module If the comparison fails, the pickup terminal screen will automatically display "Pickup Code Error" and wait for the next pickup code input; if the comparison is successful, the request will be passed, and the system information management module will automatically send the delivery command For three-axis mobile platform;

C. The claws of the mechanical arm pick up the package, the ducted fan runs, and the suction is generated; the diamond-shaped telescopic structure is compressed, and the package is transferred from the cabinet to the load plate; the system information management module automatically matches the delivery path, which is set to The X-axis deceleration motor starts and drives the X-axis to drive the screw to rotate, the bearing plate obtains a lateral displacement, moves x′ unit distance, and the X-axis deceleration motor stops; the Z-axis stepping motor starts and drives the Z-axis synchronous belt transmission, and the bearing plate Obtain vertical displacement, drop z' unit distance, Z-axis stepping motor stops; Y-axis stepping motor starts and drives Y-axis synchronous guide wheel to drive Y-axis drive screw to rotate, the bearing plate obtains lateral displacement, advances y' Unit distance; push the manipulator to push the package into the delivery port, the ducted fan stops, the suction disappears, the gripper of the mechanical arm is released, and the package falls from the delivery port to the pick-up platform; the three-axis mobile platform resets; the express cabinet delivers the package The signal is returned to the system information management module, and the database is updated;

D. After the pick-up is completed, the picker finds that the package is damaged or wrong, and returns to the pick-up terminal to reject the pick-up request, and the system information management module returns the corresponding package information to the system for processing; the picker does not reject the pick-up request, The system information management module automatically assumes that this package has no deviation, and the logistics management system will automatically clear the relevant logistics and storage information of the package.

Through the above-mentioned design scheme, the present invention can bring the following beneficial effects: a system and method for express delivery and self-collection terminal based on a three-axis mobile platform, which is convenient, fast, and reliable, and fully considers that the courier needs to carry out the package according to the package. The information and size are delivered to the self-collection cabinet. When the number of couriers is large, it is inconvenient for the courier, which consumes a lot of time and cost, and the difference in height of the self-collection cabinet also brings inconvenience to the picker. , greatly improving the speed of express logistics terminals, convenient, fast, reliable, and practical, which is beneficial to improving the information level of logistics enterprises, reducing costs, and reducing errors.

The present invention determines the current parcel storage location according to the barcode information and parcel size information collected by the camera identification module, stores the parcels in a standardized manner through the three-axis mobile platform, and updates the status information of the parcels to be picked up in the logistics management system and the express storage cabinet in real time The use status information of each cabinet, etc.; after the relevant information of the package is entered into the system and the package is put into storage, the pickup code will be sent to the picker’s mobile device in the form of a text message through the system information management module, and the system will automatically search and compare the information in the logistics management system If the comparison is successful, the request will be passed, and the system will automatically send an outbound order to the three-axis mobile platform, and the corresponding package will be out of the cabinet; through the system information management module, the inbound platform, three-axis mobile platform, express storage Information linkage between cabinets and pick-up terminals.

The further beneficial effect that the present invention brings is:

1. The present invention provides a system and method for express delivery and self-collection terminals based on a three-axis mobile platform. It can be used as an optimization solution for express companies for "last mile" delivery, and can also be used in other industries An intelligent terminal device that integrates sorting, sorting, and access; through a simple three-axis mobile platform, the precise warehousing and outbound of courier items can be achieved, and self-service equipment that can be used to deliver and pick up courier items in public places .

2. The present invention fully considers that it is inconvenient for the courier when the number of couriers is large, and it will consume a lot of time and cost. When it is concentrated in the scene of the campus, the courier can send the package into the system device without entering the campus , The three-axis mobile platform replaces manual sorting and self-collection of courier items, and maintains the cleanliness and order of the school, which saves the time and cost of couriers and improves the efficiency of delivery.

3. The present invention fully considers that during shopping carnivals such as Double Eleven and Double Twelve, the same pick-up person will receive many pick-up notices from different express companies, so the barcode reader can identify the barcodes of different express companies, Packages from different courier companies will be sorted into the warehouse according to the size of the package, avoiding the problem that the picker will spend a lot of time and energy looking for the addresses of courier outlets and courier stations.

4. The present invention fully considers the inconvenience caused by the different heights of the self-collection cabinets and the different quality of the express delivery to the pickers of different physiques under normal circumstances. The pickers uniformly obtain the packages at the delivery port, so that Self-service is more convenient and faster.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing and specific embodiment:

Fig. 1 is a schematic block diagram of the process of a system method for express delivery and self-pickup based on a three-axis mobile platform according to the present invention.

Fig. 2 is a schematic diagram of an express delivery and self-pickup terminal system based on a three-axis mobile platform according to the present invention.

Fig. 3 is a schematic diagram of a three-axis mechanism I of an express delivery and self-collection terminal system based on a three-axis mobile platform according to the present invention.

Fig. 4 is a schematic diagram II of the three-axis mechanism of the express delivery and self-collection terminal system based on the three-axis mobile platform of the present invention.

Fig. 5 is a schematic structural diagram of a push manipulator for an express delivery and self-pickup terminal system based on a three-axis mobile platform according to the present invention.

Fig. 6 is a schematic diagram of the area division structure of the express delivery and self-pickup terminal system based on the three-axis mobile platform of the present invention.

In the figure 1-incoming platform, 2-three-axis mobile platform, 3-express storage cabinet, 4-picking terminal, 5-camera identification module, 6-system information management module, 7-Y-axis synchronous guide wheel, 8- Y-axis drive screw, 9-Y-axis slide bar guide rail, 10-X-axis synchronous guide wheel, 11-X-axis slide bar guide rail, 12-Z-axis synchronous belt, 13-Z-axis slide bar guide rail, 14-bearing plate, 15-X-axis deceleration motor, 16-Y-axis stepping motor, 17-Z-axis stepping motor, 18-diamond telescopic structure, 19-multi-degree-of-freedom mechanical arm, 20-air suction nozzle, 21-mechanical arm gripper, 22-express transportation channel, 23-loading platform, 24-right storage cabinet, 25-three-axis mechanism activity area, 26-left storage cabinet, 27-inlet port, 28-X-axis drive screw, 29-exit Piece port, 30-gear.

Detailed ways

An express delivery and self-pickup terminal system based on a three-axis mobile platform, as shown in Figure 2 and Figure 6, includes an entry platform 1, a three-axis mobile platform 2, an express storage cabinet 3, a pick-up terminal 4, and a camera identification Module 5 and system information management module 6,

Among them, the entry platform 1 is composed of the entry port 27, the express transportation channel 22, the loading platform 23, etc.; the three-axis mobile platform 2 is composed of a three-axis mechanism and a push manipulator; the express storage cabinet 3 is composed of the right storage cabinet 24, the left The side storage cabinet 25 is formed, and the right storage cabinet 24 and the left storage cabinet 26 are provided with a three-axis mechanism activity area 25, and one end of the three-axis mechanism activity area 25 is provided with an outlet 29; the pick-up terminal 4 includes a display screen, a data Receiving module and data transmission module; camera recognition module 5 is made up of optical camera and barcode analysis module; system information management module 6 includes logistics management background module, data receiving module, data transmission module and processor.

The three-axis mechanism shown in Figure 3 and Figure 4 includes structures such as control components, mechanical components, and an object bearing plate 14. The control component consists of an X-axis deceleration motor 15, a Y-axis stepping motor 16, and a Z-axis stepping motor 17. Composition, mechanical components include X-axis synchronous guide wheel 10, X-axis slide bar guide rail 11, X-axis drive screw 28, Y-axis synchronous guide wheel 7, Y-axis slide bar guide rail 9, Y-axis drive screw 8, Z-axis slide bar guide rail 13 and the Z-axis timing belt 12; the bearing plate 14 is fixed on the X-axis mechanical assembly; the X-axis mechanical assembly is nested with the Z-axis slide bar guide rail 13 through a connector, and an X-axis deceleration motor is installed at one end of the X-axis driving screw 28 15. The X-axis deceleration motor 15 is set to drive the lateral displacement of the bearing plate 14 in the transverse direction, that is, the X-axis direction; the Y-axis mechanical assembly is nested with the Z-axis slide bar guide rail 13 through a connector, and Y-axis synchronous guide rails are respectively provided at both ends. The wheel 7 is equipped with a Y-axis stepping motor 16 at one end of the Y-axis driving screw 8, and the Y-axis stepping motor 16 is set to drive the longitudinal displacement of the bearing plate 14 along the longitudinal direction, that is, the Y-axis direction; at the bottom of the Z-axis slide bar guide rail 13 A Z-axis stepping motor 17 is installed at the end, and the Z-axis stepping motor 17 is set to drive the vertical displacement of the object-bearing plate 14 along the vertical direction, that is, the Z-axis direction; That is, there will be a large displacement in the direction of the Z axis, which is driven by a stepping motor, and the angular displacement is controlled by controlling the number of pulses, so as to achieve the purpose of accurately positioning the bearing plate 14 in the longitudinal and vertical directions, while in the horizontal direction, that is, X The axial direction only realizes the short-distance operation of the package in and out of the warehouse, so the horizontal direction, that is, the X-axis direction, uses a geared motor to simplify the design and save space; the three-axis mobile platform 2 is based on the cabinet position coordinates given in the warehouse order. First, the Y-axis stepping motor 16 starts and drives the Y-axis synchronous guide wheel 7 to drive the Y-axis drive screw 8 to rotate, and the object bearing plate 14 obtains a lateral displacement and advances y unit distance;

When the Y-axis stepping motor 16 stops, the Z-axis stepping motor 17 starts and drives the Z-axis synchronous belt 12 to drive, and the bearing plate 14 obtains a vertical displacement and rises by z unit distance; when the Z-axis stepping motor 17 stops, the X The axis deceleration motor 15 starts and drives the X-axis driving screw 28 to rotate, and the object-bearing plate 14 obtains a lateral displacement and advances x unit distance; when the object-bearing plate 14 accurately reaches the entrance of the specified cabinet, the diamond-shaped telescopic structure 18 is extended to push the manipulator Push the package into the cabinet, the ducted fan stops, the suction disappears, the gripper 21 of the mechanical arm is released, and the package is successfully stored; the three-axis mobile platform 2 is reset;

The push manipulator as shown in Figure 5 includes structures such as a rhombus telescopic structure 18, a multi-degree-of-freedom mechanical arm 19, an air suction nozzle 20, a mechanical arm jaw 21, a gear 30, and an air suction device; wherein,

The diamond-shaped telescopic structure 18 is hinged using the parallelogram principle, one end is fixed to the object-bearing plate 14, and the other end is fixed to the end of the multi-degree-of-freedom mechanical arm 19 to provide variable displacement for pushing the manipulator; the multi-degree-of-freedom mechanical arm 19 is used to adjust the orientation of the ornament The air suction device includes a ducted fan and an air suction channel, and utilizes the pressure difference generated between the air suction nozzle 20 and the package package to make the pushing manipulator closely fit with the package without falling off.

A method for express delivery and self-collection based on a three-axis mobile platform, as shown in Figure 1, includes the following steps, and the following steps are carried out in sequence,

Step 1, the parcel is put into the warehouse, and the courier sends the parcel into the system device through the entry port 27 according to the rule of placing the barcode face up, and the express delivery channel 22 starts automatically.

The parcels are delivered to the loading platform 23 for temporary storage in turn; the system information management module 6 sends a storage order, and the three-axis mobile platform 2 starts; the initial position of the push manipulator is located at the starting end of the loading platform 23. The equipment controls and pushes the gear 30 on the manipulator to mesh to change the degree of opening and closing of the jaws 21 of the manipulator, and pushes the manipulator to grab a single package in the horizontal direction; at the same time, the air suction device starts; check whether the manipulator is pushing to pick up the package, if not, repeat Clamping action, otherwise, continue to execute the package warehousing command;

Step 2: Intelligent Partitioning, the steps are as follows:

1. The optical camera captures the barcode image and the appearance image on the package in real time, and the captured barcode image is input into the barcode recognition module for barcode identification, and the appearance image is uploaded to the system information management module 6 to collect the package appearance size information;

2. The barcode recognition module performs rectangular area cutting, correction, grayscale processing, binarization processing, etc. on the barcode image, reads the content information of the barcode and uploads the data to the logistics management background module; the system information management module 6 based on the collected Package size information is automatically allocated to suitable cabinets, with the initial position of the three-axis mobile platform 2 as the reference origin, the system automatically matches the storage path according to the cabinet number, set to The directions of the x-axis, y-axis, and z-axis are the defined positive directions, and the storage order is sent to the three-axis mobile platform;

3. According to the cabinet position coordinates given in the storage order First, the Y-axis stepping motor 16 starts and drives the Y-axis synchronous guide wheel 7 to drive the Y-axis driving screw 8 to rotate, and the object bearing plate 14 obtains a lateral displacement and advances y unit distance; when the Y-axis stepping motor 16 stops,

The Z-axis stepping motor 17 starts and drives the Z-axis synchronous belt 12 to drive, and the bearing plate 14 obtains a vertical displacement and rises a unit distance of z; when the Z-axis stepping motor 17 stops, the X-axis deceleration motor 15 starts and drives the X-axis Drive the screw 28 to rotate, and the load-bearing plate 14 obtains a lateral displacement and advances x unit distance; when the load-bearing plate 14 accurately reaches the entrance of the specified cabinet, the diamond-shaped telescopic structure 18 is extended, and the manipulator is pushed to push the package into the cabinet, and the duct The fan stops running, the suction disappears, the gripper 21 of the mechanical arm is released, and the package is successfully put into storage;

Step 3. Notification Self-collection

1. The system information management module 6 sends the pick-up code to the pick-up person's mobile device in the form of a short message;

2. When the picker triggers the pick-up request operation of the pick-up terminal 4, the pick-up terminal 4 uploads the pick-up code input by the picker to the system information management module 6 via the data transmission module, and the system automatically searches and compares the logistics Manage the pick-up code in the background module; if the comparison fails, the screen of the pick-up terminal 4 will automatically display "wrong pick-up code", waiting for the next pick-up code input; if the comparison is successful, the request is passed, and the system will automatically send Send the output command to the three-axis mobile platform 2;

3. The gripper 21 of the mechanical arm picks up the package, the ducted fan starts to run, and the suction is generated; the diamond-shaped telescopic structure 18 is compressed, and the package is transferred from the cabinet to the storage plate 14; the system automatically matches the delivery path, set to First, the X-axis deceleration motor 15 starts and drives the X-axis driving screw 28 to rotate, and the object bearing plate 14 obtains a lateral displacement and moves x′ unit distance; when the X-axis deceleration motor 15 stops, the Z-axis stepping motor 17 starts and drives the Z-axis Driven by the synchronous belt 12, the bearing plate 14 obtains a vertical displacement and drops by a unit distance of z′; when the Z-axis stepping motor 17 stops, the Y-axis stepping motor 16 starts and drives the Y-axis synchronous guide wheel 7 to drive the Y-axis driving screw 8 rotation, the object bearing plate 14 obtains lateral displacement, advances y′ unit distance; pushes the manipulator to push the parcel into the outlet, the ducted fan stops, the suction disappears, the gripper 21 of the mechanical arm is released, and the parcel is released from the outlet Fall into the pick-up platform; the three-axis mobile platform 2 resets; the delivery signal of the express cabinet returns to the system information management module 6, and the database is updated;

4. Within a period of time after the self-picking is completed, if the picker returns to the pick-up terminal 4 to reject the pick-up request, that is, there are problems such as package damage and errors, the system information management module 6 returns the relevant package information to the system for processing; otherwise, Then the system will automatically assume that there is no deviation for this package, and the logistics management background module will automatically clear the relevant logistics and storage information of the package.

Claims (3)

1. A kind of express distribution and self-collection terminal system based on three-axis mobile platform, it is characterized in that: comprise entry platform (1), three-axis mobile platform (2), express storage cabinet (3), pick-up terminal ( 4), camera recognition module (5) and system information management module (6), described entry platform comprises entry port (27), express transportation channel (22) and loading platform (23), described entry port (27) It is arranged at one end of the express delivery channel (22), and the other end of the express delivery channel (22) is provided with a loading platform (23); The three-axis mobile platform (2) includes a three-axis mechanism and a push manipulator; the three-axis mechanism includes an X-axis reduction motor (15), a Y-axis stepping motor (16), a Z-axis stepping motor (17), an X-axis Axis synchronous guide wheel (10), X-axis slide bar guide rail (11), X-axis drive screw (28), Y-axis synchronous guide wheel (7), Y-axis slide bar guide rail (9), Y-axis drive screw (8) , Z-axis slide bar guide rail (13), Z-axis timing belt (12) and object bearing plate (14); described object bearing plate (14) is fixedly arranged on the top of X-axis slide bar guide rail (11), and the X The shaft drive screw (28) is provided with an X-axis reduction motor (15) and an X-axis synchronous guide wheel (10); the Z-axis slide bar guide (13) is nestedly connected with the X-axis slide bar guide (11), and The Z-axis stepping motor (17) is connected with the Z-axis timing belt (12); the Y-axis slide bar guide rail (9) is nestedly connected with the Z-axis slide bar guide rail (13), and the Y-axis drive screw (8 ) is provided with a Y-axis stepper motor (16), and there are two Y-axis synchronous guide wheels (7), which are arranged on the Y-axis drive screw (8); Described manipulator comprises diamond-shaped telescopic structure (18), multi-degree-of-freedom mechanical arm (19), air suction nozzle (20), mechanical arm jaw (21), gear (30) and air suction device, and described diamond-shaped telescopic structure ( 18) is a parallelogram hinged structure, one end is connected to the object-bearing plate (14), and the other end is connected to the multi-degree-of-freedom mechanical arm (19); the multi-degree-of-freedom mechanical arm (19) is connected to the mechanical arm gripper (21) One side of the two jaws of the mechanical arm jaw (21) is provided with a gear (30), and the two gears are meshed, and the air suction pipe mouth (20) is arranged on the first gear of the mechanical arm jaw (21). the middle position of the side; The express storage cabinet (3) includes a right storage cabinet (24) and a left storage cabinet (26), and the right storage cabinet (24) and the left storage cabinet (26) are provided with a three-axis mechanism activity area (25) , one end of the three-axis mechanism activity area (25) is provided with a piece outlet (29); The pick-up terminal (4) includes a display screen, a data receiving module and a data transmission module; The camera recognition module (5) includes an optical camera and a barcode analysis module; The system information management module (6) includes a logistics management background module, a data receiving module, a data transmission module and a processor. 2. A express delivery and self-pickup terminal system based on a three-axis mobile platform according to claim 1, wherein the air suction device includes a ducted fan and an air suction channel. 3. A kind of express delivery based on three-axis mobile platform and self-taking method, it is characterized in that: a kind of express delivery based on three-axis mobile platform described in claim 1 and self-collecting terminal system comprise the following steps, And the following steps are carried out in sequence, Step 1. Package storage According to the rule of placing the barcode face upwards, the operator sends the parcels from the inlet (27) into the express delivery channel (22), and the express delivery channel (22) is automatically activated by gravity, and the packages are sequentially transferred to the loading platform ( 23) Temporary storage, the system information management module (6) sends a storage order, and the three-axis mobile platform (2) starts; the initial position of the push manipulator is located at the starting end of the loading platform (23), and the gear (30) on the manipulator is pushed through the circuit device ) engage and control the opening angle of the grippers (21) of the manipulator, and push the manipulator to grab a single package in the horizontal direction; the air suction device starts, detects that the manipulator has successfully picked up the package, and continues to execute the package storage order; the air suction device detects and pushes the manipulator to pick up the package If the package fails, the system repeats the clamping action until the package is successfully captured, and continues to execute the package warehousing command; Step 2. Smart Partitioning A. The optical camera captures the barcode image on the package and the appearance image of the package in real time, and inputs the captured barcode image into the barcode recognition module for barcode recognition, and uploads the captured appearance image to the system information management module (6) for package appearance size information identification entry; B. The barcode recognition module performs rectangular area cutting, correction, grayscale processing and binarization processing on the barcode image, reads the barcode content information and uploads the data to the logistics management background module; the system information management module (6) according to the collected The package size information of the parcel is allocated to the express cabinet. The initial position of the three-axis mobile platform (2) is used as the reference origin. The system automatically matches the storage path according to the cabinet number, which is set to The directions of the x-axis, y-axis, and z-axis are the defined positive directions, and the storage order is sent to the three-axis mobile platform; C. According to the cabinet location coordinates given in the storage order First, the Y-axis stepping motor (16) starts and drives the Y-axis synchronous guide wheel (7) to drive the Y-axis drive screw (8) to rotate, and the bearing plate (14) obtains a lateral displacement, advances y unit distance, and the Y-axis position is determined , the Y-axis stepping motor (16) stops; the Z-axis stepping motor (17) starts and drives the Z-axis synchronous belt (12) to drive, the bearing plate (14) obtains a vertical displacement, and rises Z unit distance, and the Z-axis After the position is determined, the Z-axis stepping motor (17) stops; the X-axis deceleration motor (15) starts and drives the X-axis driving screw (28) to rotate, and the object-bearing plate (14) obtains a lateral displacement, and advances X unit distance, and the object The board (14) accurately arrives at the entrance of the specified cabinet, the rhombus telescopic structure (18) is extended, and the manipulator is pushed to push the package into the cabinet, the ducted fan stops, the suction disappears, the gripper of the mechanical arm (21) is loosened, and the package The warehousing is successful, and the warehousing information is fed back to the system information management module (6); Step 3. Notification Self-collection A. The system information management module (6) sends the pick-up code to the pick-up person's mobile device in the form of information; B. When the picker triggers the pick-up request operation of the pick-up terminal (4), the pick-up terminal (4) uploads the pick-up code input by the picker to the system information management module (6) via the data transmission module, and the system Automatically search and compare the pickup code in the logistics management background module; if the comparison fails, the screen of the pickup terminal (4) will automatically display "Pickup code error" and wait for the next pickup code input; if the comparison is successful, it will request Pass, then the system information management module (6) automatically sends the output command to the three-axis mobile platform (2); C. The grippers of the mechanical arm (21) pick up the package, the ducted fan runs, and the suction is generated; the diamond-shaped telescopic structure (18) is compressed, and the package is transferred from the cabinet to the carrier board (14); the system information management module (6) Automatically match the outbound path, set to The X-axis deceleration motor (15) starts and drives the X-axis driving screw (28) to rotate, the bearing plate (14) obtains lateral displacement, moves x' unit distance, and the X-axis deceleration motor (15) stops; the Z-axis stepping motor (17) start and drive the transmission of the Z-axis synchronous belt (12), the bearing plate (14) obtains a vertical displacement, descends z' unit distance, and the Z-axis stepper motor (17) stops; the Y-axis stepper motor (16 ) starts and drives the Y-axis synchronous guide wheel (7) to drive the Y-axis drive screw (8) to rotate, and the load plate (14) obtains a lateral displacement and advances a unit distance of y′; pushes the manipulator to push the package into the delivery port, and The fan stops running, the suction disappears, the grippers (21) of the mechanical arm are released, and the package falls into the pick-up platform from the delivery port; the three-axis mobile platform (2) resets; the delivery signal of the express cabinet returns to the system information management module ( 6), database update; D. After the pick-up is completed, the picker finds that the package is damaged or wrong, and returns to the pick-up terminal (4) to reject the pick-up request, and the system information management module (6) returns the corresponding package information to the system for processing; the picker does not When the pick-up request is rejected, the system information management module (6) automatically assumes that the package has no deviation, and the logistics management system will automatically clear the relevant logistics and storage information of the package.