CN106846629B - Intelligence is sold and picks up goods machine - Google Patents
Intelligence is sold and picks up goods machine Download PDFInfo
- Publication number
- CN106846629B CN106846629B CN201611222253.9A CN201611222253A CN106846629B CN 106846629 B CN106846629 B CN 106846629B CN 201611222253 A CN201611222253 A CN 201611222253A CN 106846629 B CN106846629 B CN 106846629B
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F9/00—Details other than those peculiar to special kinds or types of apparatus
- G07F9/002—Vending machines being part of a centrally controlled network of vending machines
Abstract
It sells and picks up goods the invention discloses a kind of intelligence machine, including casing, export of goods and touch screen, shelf are fixed in casing, picking robot and control cabinet, processor is fixed in control cabinet, PLC controller and internal environment monitor, picking robot includes unlubricated parallel synchronous running gear and two-way code fetch device, unlubricated parallel synchronous running gear includes upper rail, lower guideway and synchronous operation bar, perpendicular supporting plate is additionally provided between upper rail and lower guideway, there is lifting panel on the side of perpendicular supporting plate, the back side two sides of lifting panel are equipped with slide guide wheel, two-way code fetch device is fixed on lifting panel, lifting driving motor is fixed at the top of perpendicular supporting plate, oilless air compressor is further fixed on bottom wall in casing.Structure setting of the invention is reasonable, can effectively guarantee that it fetches the reliability of object, it is not easy to shake or deviate, the precision for fetching cargo can be improved, also not allow the damage for easily causing mechanism, improve its service life.
Description
Technical field
The invention belongs to engineering device technique fields of picking up goods, and in particular to a kind of intelligence is sold and pick up goods machine.
Background technique
With the rapid development of society, automatic vending machine is quickly grown, and the automatic vending machine of traditional technology is mainly by filling
It sets shell, outlet, supporter and object manipulator is taken to form, although self-service operation may be implemented, its supporter
With take the volume of object manipulator larger, and it is easy at runtime because the mechanism speed of service is slow and cantilever shakes caused by inertia is larger
The problem of rolling, while also will affect positioning accuracy, cost of manufacture is not only increased, and stability in use is relatively limited, is applicable in
Property and practicability are restricted.
Summary of the invention
The object of the present invention is to provide a kind of structure setting, the good intelligence of reasonable and stability in use is sold and picks up goods machine.
The technical solution for realizing the object of the invention is that a kind of intelligence is sold and pick up goods machine, including casing, in the casing
Side bottom is equipped with export of goods and touch screen, shelf, picking robot and control cabinet is fixed in the casing, described
Processor, the PLC controller being connected with the processor and the inside being connected with the processor are fixed in control cabinet
Environmental monitor, the touch screen are connected with the processor, and the picking robot includes unlubricated parallel synchronous operation
Device and two-way code fetch device, the unlubricated parallel synchronous running gear include upper rail, lower guideway and synchronous operation bar, institute
It states upper rail and lower guideway is parallel and be separately fixed at the top side wall of casing and bottom end, between the upper rail and lower guideway
It is additionally provided with perpendicular supporting plate, the perpendicular supporting plate is parallel with the synchronous operation bar, there is lifting panel on the side of the perpendicular supporting plate,
The back side two sides of the lifting panel are equipped with slide guide wheel, the lifting panel be movably arranged on perpendicular supporting plate by slide guide wheel and
The slide guide wheel is clamped on the two sides of perpendicular supporting plate, and the two-way code fetch device is fixed on lifting panel, in the perpendicular branch
Lifting driving motor is fixed at the top of plate, the lifting panel is fixed on the belt of lifting driving motor, in the casing
Be further fixed on oilless air compressor on interior bottom wall, at the export of goods be equipped with pneumatic door, the pneumatic door with it is described oil-free
Air compressor machine is connected.
The two-way code fetch device includes bottom plate and the vertical connection panel for being fixed on bottom plate one end, on the top of the bottom plate
Face, which is equipped with, takes object reading code structure, described that object reading code structure is taken to include rotary cylinder, rotating seat, take object seat, object cylinder, guiding is taken to slide
Bar, scan block, Scan orientation device, vacuum generator and object suction nozzle is fetched and delivered, the bottom end of the rotary cylinder is fixed on the top of bottom plate
On face, the bottom end of the rotating seat is connected with the axis of the rotary cylinder, described that object seat is taken to be fixed on rotating seat, described true
Empty generator is fixed on the bottom surface of bottom plate and the vacuum generator is connected with the object suction nozzle of fetching and delivering, and takes object seat described
Middle part be equipped with transparent shifting chute, the guiding slide bar with it is described take object cylinder it is parallel be fixed on shifting chute it is interior and with shifting
The direction of dynamic slot is consistent, and the bottom end of the scan block is fixed on the piston shaft for taking object cylinder, and the Scan orientation device is fixed on
Pilot hole is arranged on the scan block at the top of scan block, and the guiding slide bar is arranged across the pilot hole, described to fetch and deliver object
Suction nozzle is symmetricly set on the two sides of the scan block and matches with Scan orientation device position, the vertical connection panel with
The lifting panel is fixedly connected.
The unlubricated parallel synchronous running gear further includes the sleeve that the synchronous operation bar bottom is arranged in, described
It is fixed with motor cabinet on the outer wall of sleeve, is fixed with motor on the motor cabinet, is fixed with bottom in the bottom end of the motor cabinet
Supporting plate is fixed with bottom hold-down roll on the bottom supporting plate, cylinder is equipped on the top of the synchronous operation bar, in the cylinder
Top be fixed with topmast plate, top hold-down roll is fixed on the topmast plate, the bottom hold-down roll is pressed on lower guideway
Bottom surface on and the top hold-down roll be pressed on the top surface of upper rail, be additionally provided on the top of the synchronous operation bar upper same
Walk belt wheel, the lower section of topmast plate is arranged in the upper synchronous pulley, is equipped with upper tensioning wheel in the bottom surface of the topmast plate, it is described on
Tensioning wheel is taken turns on when being pressed on the wheel of upper synchronous pulley, is equipped with lower synchronous pulley and biography in the bottom end of the synchronous operation bar
Moving gear is fixed with driving gear on the main shaft of the motor, and the driving gear and the transmission gear are mutually ratcheting, described
The lower section of the transmission gear is arranged in lower synchronous pulley, is fixed with lower tensioning wheel in the top surface of the bottom supporting plate, and described lower
Bearing up pulley is taken turns on when being pressed on the wheel of lower synchronous pulley, is equipped with upper synchronous belt in the side of the upper rail, is led under described
The side of rail is equipped with lower synchronous belt, and one end of the upper synchronous belt is fixed on one end of upper rail and the other end is fixed on together
On the wheel side for walking belt wheel, one end of the lower synchronous belt is fixed on one end of lower guideway and the other end is fixed on lower synchronous pulley
It takes turns on side.
It is equipped with sleeve in the bottom end of the synchronous operation bar, motor cabinet is fixed on the outer wall of the sleeve, described
It is fixed with motor on motor cabinet, has top movable plate on the top of the synchronous operation bar, the top movable plate passes through cylinder
It is connected to the top of synchronous operation bar, has bottom movable plate in the bottom end of the synchronous operation bar, the bottom movable plate is fixed
In the bottom end of motor cabinet, it is fixed with upper hold-down roll on the top movable plate, under being fixed on the bottom movable plate
The lower section of sleeve is arranged in hold-down roll, the bottom movable plate, and the upper hold-down roll is pressed on the top surface of upper rail and institute
The bottom surface that lower hold-down roll is pressed on lower guideway is stated, top is additionally provided at the top of the synchronous operation bar and runs gear, in institute
The bottom for stating synchronous operation bar is additionally provided with bottom operation gear, has positioning tooth bar on the side of the upper rail and lower guideway,
The lower section of top movable plate and, the bottom mutually ratcheting with the positioning tooth bar of the upper rail is arranged in the top operation gear
Operation gear is arranged in the top of bottom movable plate and is in the lower section of sleeve, the bottom operation gear and the lower guideway
Positioning tooth bar is mutually ratcheting, there is driving gear on the main shaft of the motor, and the driving gear runs gear phase tooth with the bottom
It closes.
Article inductor is fixed in the middle part of the side for taking object seat.
The rotary cylinder is 180 ° of angle rotary cylinders.
Disinfecting device is further fixed in the casing.
Constant temperature thermal insulation board and precision temperature monitor, the precision temperature monitor are further fixed at the top of the casing
It is connected with the processor.
The present invention has the effect of positive: structure setting of the invention is reasonable, can effectively save space, can be effective
Guarantee that it fetches the reliability of object, and be less likely to occur to shake or deviate, the essence for fetching cargo not only can be improved
Degree, nor it is be easy to cause the damage of mechanism, its service life, and the compact of its corresponding construction are substantially increased,
Space can effectively be saved, stability in use is good and strong applicability.
Detailed description of the invention
In order to make the content of the present invention more clearly understood, right below according to specific embodiment and in conjunction with attached drawing
The present invention is described in further detail, in which:
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the specific structure of picking robot in the present invention；
Fig. 3 is the first specific structure of unlubricated parallel synchronous running gear in the present invention；
Fig. 4 is second of specific structure of unlubricated parallel synchronous running gear in the present invention；
Fig. 5 is the specific structure of two-way code fetch device in the present invention.
Specific embodiment
(embodiment 1)
Fig. 1 to Fig. 3 and Fig. 5 shows a kind of specific embodiment of the invention, and wherein Fig. 1 is structural representation of the invention
Figure；Fig. 2 is the specific structure of picking robot in the present invention；Fig. 3 is the of unlubricated parallel synchronous running gear in the present invention
A kind of specific structure；Fig. 5 is the specific structure of two-way code fetch device in the present invention.
Fig. 1 to Fig. 3 and Fig. 5, sell and pick up goods machine, including casing 1 by a kind of intelligence, sets in the side bottom of the casing 1
There are export of goods 2 and touch screen 3, shelf 4, picking robot 5 and control cabinet 6 is fixed in the casing 1, in the control
Processor, the PLC controller being connected with the processor and the inner loop being connected with the processor are fixed in case 6 processed
Border monitor, the touch screen 3 are connected with the processor, and 5 people of picking machine includes unlubricated parallel synchronous operation
Device 51 and two-way code fetch device 52, the unlubricated parallel synchronous running gear 51 include upper rail 511,512 and of lower guideway
Bar 513 is run simultaneously, the upper rail 511 and lower guideway 512 are parallel and be separately fixed at the top side wall of casing and bottom end,
Perpendicular supporting plate 514, the perpendicular supporting plate 514 and the synchronous operation bar 513 are additionally provided between the upper rail 511 and lower guideway 512
It is parallel, there is lifting panel 515 on the side of the perpendicular supporting plate 514, the back side two sides of the lifting panel 515, which are equipped with, leads
Pulley 55, the lifting panel 515 is movably arranged on perpendicular supporting plate 514 by slide guide wheel 55 and the slide guide wheel is clamped in perpendicular branch
On the two sides of plate 514, the two-way code fetch device 52 is fixed on lifting panel 515, solid at the top of the perpendicular supporting plate 514
Surely there is lifting driving motor 53, the lifting panel is fixed on the belt 54 of lifting driving motor, the bottom in the casing 1
It is further fixed on oilless air compressor 7 on wall, pneumatic door, the pneumatic door and the oilless air compressor are equipped at the export of goods
It is connected.
The two-way code fetch device 52 includes bottom plate 521 and the vertical connection panel 522 for being fixed on bottom plate one end, in institute
The top surface for stating bottom plate 521, which is equipped with, takes object reading code structure, described that object reading code structure is taken to include rotary cylinder 523, rotating seat 524, take
Object seat 525 takes object cylinder 526, guiding slide bar 527, scan block 528, Scan orientation device 529, vacuum generator 5210 and fetches and delivers
The bottom end of object suction nozzle 5211, the rotary cylinder 523 is fixed on the top surface of bottom plate 521, the bottom end of the rotating seat 524 and institute
The axis for stating rotary cylinder 523 is connected, described that object seat 525 is taken to be fixed on rotating seat 524, and the vacuum generator 5210 is fixed
On the bottom surface of bottom plate 521 and the vacuum generator 5210 is connected with the object suction nozzle 5211 of fetching and delivering, and takes object seat described
525 middle part is equipped with transparent shifting chute 5212, and the guiding slide bar 527 takes object cylinder 526 is parallel to be fixed on described
In shifting chute and consistent with the direction of shifting chute, the bottom end of the scan block 528 is fixed on the piston shaft for taking object cylinder 523,
The Scan orientation device 529 is fixed on the top of scan block 528, there is pilot hole, the guiding slide bar on the scan block 528
It is arranged across the pilot hole, the object suction nozzle 5211 of fetching and delivering is symmetricly set on the two sides of the scan block and determines with the scanning
Position device position matches, and the vertical connection panel is fixedly connected with the lifting panel.Internet of Things can be used in the present embodiment
The control of net system is sold and picks up goods machine, guest can by network, APP it is done through network or sell and delivery of cargo machine before direct self-help operation
Touch screen places an order, and the processor for machine of selling and pick up goods can receive the signal inside the control cabinet of transmission and be handled, at signal
PLC controller, which is transferred to, after reason OK sends order-driven robot Goods Outwards.
The unlubricated parallel synchronous running gear 51 further includes the sleeve that synchronous operation 513 bottom of bar is arranged in
516, it is fixed with motor cabinet 517 on the outer wall of the sleeve, motor 518 is fixed on the motor cabinet, in the motor
The bottom end of seat is fixed with bottom supporting plate 519, is fixed with bottom hold-down roll 5110 on the bottom supporting plate, in the synchronous operation bar
Top is equipped with cylinder 5111, is fixed with topmast plate 5112 on the top of the cylinder, is fixed with top clip on the topmast plate and holds
Idler wheel 5113, the bottom hold-down roll is pressed on the bottom surface of lower guideway and the top hold-down roll is pressed on the top surface of upper rail
On, it is additionally provided with upper synchronous pulley 5114 on the top of the synchronous operation bar, the upper synchronous pulley is arranged under topmast plate
Side is equipped with upper tensioning wheel 5115 in the bottom surface of the topmast plate, and the wheel side of the upper tensioning wheel is pressed on the wheel of synchronous pulley
Bian Shang is equipped with lower synchronous pulley 5116 and transmission gear 5117 in the bottom end of the synchronous operation bar 513, in the motor 518
Main shaft on be fixed with driving gear 5118, the driving gear and the transmission gear are mutually ratcheting, and the lower synchronous pulley is set
It sets in the lower section of the transmission gear, is fixed with lower tensioning wheel 5119, the wheel of the lower tensioning wheel in the top surface of the bottom supporting plate
On when being pressed on the wheel of lower synchronous pulley, it is equipped with upper synchronous belt 51110 in the side of the upper rail, in the lower guideway
Side is equipped with lower synchronous belt 51111, and one end of the upper synchronous belt is fixed on one end of upper rail and the other end is fixed on
On the wheel side of synchronous pulley, one end of the lower synchronous belt is fixed on one end of lower guideway and the other end is fixed on lower synchronous pulley
Wheel side on.
Article inductor 5213 is fixed in the middle part of the side for taking object seat 525.
The rotary cylinder is 180 ° of angle rotary cylinders.
Disinfecting device 8 is further fixed in the casing.
Constant temperature thermal insulation board 9 and precision temperature monitor 10, the precision temperature prison are further fixed at the top of the casing
Control instrument is connected with the processor.
In the present embodiment, processor and lifting driving motor, rotary cylinder, take object cylinder and motor etc. at vacuum generator
Structure is connected, and controls above structure movement by processor, to realize the accurate operation for picking and placing cargo.
(embodiment 2)
See Fig. 4, the present embodiment is substantially the same manner as Example 1, the difference is that: at the bottom of the synchronous operation bar 513
End is equipped with sleeve 516 ', is fixed with motor cabinet 517 ' on the outer wall of the sleeve 516 ', is fixed with electricity on the motor cabinet
Machine 518 ' has top movable plate 519 ' on the top of the synchronous operation bar, and the top movable plate is connected to together by cylinder
There is bottom movable plate 5110 ' on the top of step operation bar in the bottom end of the synchronous operation bar, and the bottom movable plate is fixed on electricity
The bottom end of base is fixed with upper hold-down roll 5111 ' on the top movable plate, under being fixed on the bottom movable plate
The lower section of sleeve is arranged in hold-down roll 5112 ', the bottom movable plate, and the upper hold-down roll is pressed on the top surface of upper rail
And the lower hold-down roll is pressed on the bottom surface of lower guideway, and top is additionally provided at the top of the synchronous operation bar and runs gear
5113 ', it is additionally provided with bottom operation gear 5114 ' in the bottom of the synchronous operation bar, in the side of the upper rail and lower guideway
Bian Shangyou positioning tooth bar 5115 ', top operation gear are arranged in the lower section of top movable plate and determine with the upper rail
Position rack gear is mutually ratcheting, and the bottom operation gear is arranged in the top of bottom movable plate and is in the lower section of sleeve, the bottom
The positioning tooth bar for running gear and the lower guideway is mutually ratcheting, there is driving gear 5116 ' on the main shaft of the motor 518 ', described
Drive gear and bottom operation gear mutually ratcheting.
Structure setting of the invention is reasonable, can effectively save space, can effectively guarantee that it fetches the stabilization of object
Reliability, and be less likely to occur to shake or deviate, the precision for fetching cargo not only can be improved, nor be easy to cause machine
The damage of structure substantially increases its service life, and the compact of its corresponding construction, can effectively save space, uses
Stability is good and strong applicability.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.And these
Belong to the obvious changes or variations that connotation of the invention is extended out and still falls within protection scope of the present invention.
Claims (7)
- The machine 1. a kind of intelligence sells and picks up goods, including casing are equipped with export of goods and touch screen in the side bottom of the casing, It is fixed with shelf, picking robot and control cabinet in the casing, processor and the place are fixed in the control cabinet Manage the device PLC controller being connected and the internal environment monitor being connected with the processor, the touch screen and the place Reason device is connected, it is characterised in that: and the picking robot includes unlubricated parallel synchronous running gear and two-way code fetch device, The unlubricated parallel synchronous running gear includes upper rail, lower guideway and synchronous operation bar, the upper rail and lower guideway phase Top side wall and bottom end parallel and that be separately fixed at casing, are additionally provided with perpendicular supporting plate between the upper rail and lower guideway, described Perpendicular supporting plate is parallel with the synchronous operation bar, there is lifting panel, the back of the lifting panel on the side of the perpendicular supporting plate Face two sides are equipped with slide guide wheel, and the lifting panel is movably arranged on perpendicular supporting plate by slide guide wheel and the slide guide wheel is clamped in On the two sides of perpendicular supporting plate, the two-way code fetch device is fixed on lifting panel, is fixed with liter at the top of the perpendicular supporting plate Driving motor drops, and the lifting panel is fixed on the belt of lifting driving motor, also fixed on the bottom wall in the casing There is oilless air compressor, pneumatic door is equipped at the export of goods, the pneumatic door is connected with the oilless air compressor；It is described Two-way code fetch device includes bottom plate and the vertical connection panel for being fixed on bottom plate one end, is equipped in the top surface of the bottom plate and object is taken to read Code structure, it is described that object reading code structure is taken to include rotary cylinder, rotating seat, take object seat, take object cylinder, guiding slide bar, scan block, sweep It retouches locator, vacuum generator and fetches and delivers object suction nozzle, the bottom end of the rotary cylinder is fixed on the top surface of bottom plate, the rotation The bottom end of seat is connected with the axis of the rotary cylinder, and described that object seat is taken to be fixed on rotating seat, the vacuum generator is fixed On the bottom surface of bottom plate and the vacuum generator is connected with the object suction nozzle of fetching and delivering, and is equipped at the middle part for taking object seat upper Under penetrating shifting chute, the guiding slide bar with it is described take object cylinder it is parallel be fixed in shifting chute and with the direction of shifting chute one It causing, the bottom end of the scan block is fixed on the piston shaft for taking object cylinder, and the Scan orientation device is fixed on the top of scan block, There is pilot hole on the scan block, the guiding slide bar is arranged across the pilot hole, and the object suction nozzle of fetching and delivering is symmetrical arranged The scan block two sides and matched with Scan orientation device position, the vertical connection panel and the lifting panel It is fixedly connected.
- The machine 2. intelligence according to claim 1 sells and picks up goods, it is characterised in that: the unlubricated parallel synchronous operation dress Setting further includes the sleeve that the synchronous operation bar bottom is arranged in, and motor cabinet is fixed on the outer wall of the sleeve, described It is fixed with motor on motor cabinet, is fixed with bottom supporting plate in the bottom end of the motor cabinet, bottom clamping is fixed on the bottom supporting plate Idler wheel is equipped with cylinder on the top of the synchronous operation bar, topmast plate is fixed on the top of the cylinder, in the topmast plate On be fixed with top hold-down roll, the bottom hold-down roll is pressed on the bottom surface of lower guideway and the top hold-down roll is pressed on On the top surface of guide rail, it is additionally provided with upper synchronous pulley on the top of the synchronous operation bar, the upper synchronous pulley is arranged in topmast The lower section of plate is equipped with upper tensioning wheel in the bottom surface of the topmast plate, and the wheel side of the upper tensioning wheel is pressed on synchronous pulley It takes turns on side, is equipped with lower synchronous pulley and transmission gear in the bottom end of the synchronous operation bar, it is fixed on the main shaft of the motor There is driving gear, the driving gear and the transmission gear are mutually ratcheting, and the lower synchronous pulley is arranged in the transmission gear Lower section, be fixed with lower tensioning wheel in the top surface of the bottom supporting plate, the wheel side of the lower tensioning wheel is pressed on lower synchronous pulley Take turns side on, the side of the upper rail be equipped with upper synchronous belt, on the side of the lower guideway be equipped with lower synchronous belt, it is described on One end of synchronous belt is fixed on one end of upper rail and the other end is fixed on the wheel side of synchronous pulley, the lower synchronous belt One end is fixed on one end of lower guideway and the other end is fixed on the wheel side of lower synchronous pulley.
- The machine 3. intelligence according to claim 2 sells and picks up goods, it is characterised in that: set in the bottom end of the synchronous operation bar There is sleeve, be fixed with motor cabinet on the outer wall of the sleeve, be fixed with motor on the motor cabinet, in the synchronous operation There is top movable plate on the top of bar, and the top movable plate is connected to the top of synchronous operation bar by cylinder, in the synchronization There is bottom movable plate in the bottom end of operation bar, and the bottom movable plate is fixed on the bottom end of motor cabinet, on the top movable plate It is fixed with hold-down roll, lower hold-down roll is fixed on the bottom movable plate, the bottom movable plate is arranged in sleeve Lower section, the upper hold-down roll is pressed on the top surface of upper rail and the lower hold-down roll is pressed on the bottom surface of lower guideway, It is additionally provided with top at the top of the synchronous operation bar and runs gear, is additionally provided with bottom operation tooth in the bottom of the synchronous operation bar Wheel, there is positioning tooth bar on the side of the upper rail and lower guideway, and top movable plate is arranged in the top operation gear Top and the place of bottom movable plate is arranged in lower section and mutually ratcheting with the positioning tooth bar of the upper rail, the bottom operation gear Positioning tooth bar in the lower section of sleeve, bottom the operation gear and the lower guideway is mutually ratcheting, has on the main shaft of the motor Gear is driven, the driving gear and bottom operation gear are mutually ratcheting.
- 4. being sold and being picked up goods machine according to claim 2 or intelligence as claimed in claim 3, it is characterised in that: take object seat described Side in the middle part of be fixed with article inductor.
- The machine 5. intelligence according to claim 4 sells and picks up goods, it is characterised in that: the rotary cylinder is 180 ° of angle rotations Cylinder.
- The machine 6. intelligence according to claim 5 sells and picks up goods, it is characterised in that: disinfection is further fixed in the casing Sterilizing unit.
- The machine 7. intelligence according to claim 6 sells and picks up goods, it is characterised in that: be further fixed at the top of the casing Constant temperature thermal insulation board and precision temperature monitor, the precision temperature monitor are connected with the processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611222253.9A CN106846629B (en) | 2016-12-27 | 2016-12-27 | Intelligence is sold and picks up goods machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611222253.9A CN106846629B (en) | 2016-12-27 | 2016-12-27 | Intelligence is sold and picks up goods machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106846629A CN106846629A (en) | 2017-06-13 |
| CN106846629B true CN106846629B (en) | 2019-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611222253.9A Active CN106846629B (en) | 2016-12-27 | 2016-12-27 | Intelligence is sold and picks up goods machine |
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| CN (1) | CN106846629B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105488907A (en) * | 2015-12-31 | 2016-04-13 | 天津优智达科技有限公司 | Intelligent article storing and fetching device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8631969B2 (en) * | 2004-06-15 | 2014-01-21 | Teknovation, Ltd. | Article storage and retrieval apparatus, and vending machine |
| US9569912B2 (en) * | 2008-06-26 | 2017-02-14 | Shopatm Bv (Sarl) | Article storage and retrieval apparatus and vending machine |
| WO2012016031A1 (en) * | 2010-07-28 | 2012-02-02 | Par Systems, Inc. | Robotic storage and retrieval systems |
| CN102343586B (en) * | 2011-04-13 | 2013-09-04 | 哈尔滨工业大学 | Line grasping manipulator for remote control in measurement and check of communication network |
| GB2516276A (en) * | 2013-07-17 | 2015-01-21 | Shoprobotic Ltd | A vending machine and associated methods |
| CN205133101U (en) * | 2015-11-05 | 2016-04-06 | 宁波朝平智能科技有限公司 | Thing mechanism is gone up and down to get in track translation |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105488907A (en) * | 2015-12-31 | 2016-04-13 | 天津优智达科技有限公司 | Intelligent article storing and fetching device |
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Effective date of registration: 20180524 Address after: 516000 Guangdong Huizhou Huicheng District Huizhou Road 11, Jia Zhao industry center two phase A block 4 unit 21 level 01 (office only) Applicant after: Huizhou Music Technology Co., Ltd. Address before: 528400 106, room 2, No. 28 Dongyi Road, Torch Development Area, Zhongshan, Guangdong. Applicant before: Zhongshan fresh access to Intelligent Technology Co., Ltd. |
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