CN107492198A - A kind of vendor and its application method for supporting a variety of cold and hot food bag shape commodity - Google Patents
A kind of vendor and its application method for supporting a variety of cold and hot food bag shape commodity Download PDFInfo
- Publication number
- CN107492198A CN107492198A CN201710660328.XA CN201710660328A CN107492198A CN 107492198 A CN107492198 A CN 107492198A CN 201710660328 A CN201710660328 A CN 201710660328A CN 107492198 A CN107492198 A CN 107492198A
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- China
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- cold
- food bag
- mechanical arm
- hot food
- crotch
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/62—Coin-freed apparatus for dispensing, or the like, discrete articles in which the articles are stored in compartments in fixed receptacles
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
- G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
- G07F11/16—Delivery means
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of vendor for supporting a variety of cold and hot food bag shape commodity, including three axle rectangular robots being arranged above cold and hot food bag cabinet, robot vision unit and crotch mechanical arm handgrip are set on three axle rectangular robots, three axle rectangular robot sides set control centre of robot device, described robot vision unit and crotch mechanical arm handgrip and control centre of robot device be wired or wireless connection, barcode scanning portion is set on described control centre of robot device, and described barcode scanning portion wirelessly coordinates with mobile terminal；The bottom of described crotch mechanical arm handgrip sets crotch, and described crotch is arranged at the surface of cold and hot food bag cabinet A fan door；Described robot vision unit is arranged at the top side of three axle rectangular robot Z axis mechanical arms, and the camera arbitrarily rotated around robot vision unit is set on robot vision unit.
Description
Technical field
The present invention relates to automated intelligent selling apparatus field, and in particular to one kind supports a variety of cold and hot food bag shape commodity
Vendor and its application method.
Background technology
Nowadays because labor-intensive industry is constructed to technology-intensive social transformation, a large amount of productions, a large amount of consumption with
And the change of consumption mode and sales environment, it is desirable to there is new circulation, and relative supermarket, general merchandise shopping center etc. are new
Circulation generation, labour cost also constantly rises, along with place limitation and shopping convenience etc. these
The restriction of factor, automated intelligent selling apparatus start gradually to be employed to promote.Present automated intelligent selling apparatus has been business
The common equipment of automation, it is not limited by time, place, saves manpower, convenient transaction, is the base of Modern Commercial Retail Business
Plinth, suitable for the micro supermarket of 24 HOUR ACCESS.Traditional vending equipment is can be according to the automatic shipment of coin of input
Machine.And increasingly popularized with the payment of mobile terminal in recent years, automated intelligent selling apparatus is moving towards informationization and gone forward side by side
One step, which is realized, to be rationalized, and present automated intelligent selling apparatus is substantially entered in the form of such as mobile phone mobile terminal payment
OK, and mobile terminal payment system it is more and more ripe.But usually there is device in existing automated intelligent selling apparatus presence
Complicated, device itself the operational error problem of itself, such as sliding goods problem, and these device generally existing costs are more high
It is expensive, such as involved great expense in the presence of the mechanical jig arm of crawl goods, and when the gripper of mechanical jig arm has long use due to gripping mill
Damage causes to take product unstable.How to solve these problems, obtain device, stabilization simple to operate is sold goods as automated intelligent and set successively
Standby field studies a question.
The content of the invention
It is an object of the present invention to provide a kind of vendor for supporting a variety of cold and hot food bag shape commodity and its use
Method, it is simple in construction, practical, it is hardly damaged, maintenance is also very convenient, the automatic sale of the manipulator jig arm used compared to tradition
Device, low cost, and skidded in the absence of being worn caused by the existing gripping time length of traditional manipulator jig arm, gripping often
Problem, it is economical and practical and durable, ensure vendor it is long when utilization rate, take that product difficulty is low and reliability is high, whole dress
The height put is also shorter, improves device space availability ratio.
In order to realize the above object the technical solution adopted by the present invention is：One kind supports a variety of cold and hot food bag shape business
The vendor of product, including three axle rectangular robots above cold and hot food bag cabinet are arranged at, three axle right angle machines
Robot vision unit and crotch mechanical arm handgrip are set on people, and three axle rectangular robot sides set control centre of robot
Device, described robot vision unit and crotch mechanical arm handgrip and control centre of robot device be wired or wireless connection, institute
Barcode scanning portion is set on control centre of the robot device stated, and described barcode scanning portion wirelessly coordinates with mobile terminal；
Three described axle rectangular robots include driving being located at X in the X-axis mechanical arm on cold and hot food bag cabinet Over-The-Counter face
Put down on shaft mechanical arm same plane where the Y-axis mechanical arm vertical X axis mechanical arm of vertical X axis mechanical arm arrangements and Y-axis mechanical arm
The Z axis mechanical arm in face, described crotch mechanical arm handgrip are arranged at the bottom of Z axis mechanical arm；
The bottom of described crotch mechanical arm handgrip sets crotch, and described crotch is arranged at cold and hot food bag cabinet A
Fan door surface；
Described robot vision unit is arranged at the top side of three axle rectangular robot Z axis mechanical arms, and robot regards
Feel the camera for setting on unit and arbitrarily being rotated around robot vision unit.
Further, the memory cell that multiple bores differ is provided with described cold and hot food bag cabinet, it is described
Memory cell sets flat board into cuboid chamber shape, the underface of memory cell, and the bottom of described flat board sets spring stack, institute
The spring stack stated can stretch up and down.
Further, described mobile terminal is mobile phone.
The present invention another technical scheme be：A kind of vendor for supporting a variety of cold and hot food bag shape commodity
Application method：
Step is hooked up including cold and hot food bag shape commodity deposition step and cold and hot food bag shape commodity barcode scanning；
Described cold and hot food bag shape commodity deposition step includes first beating cold and hot food bag shape commodity packaging edge
Hole, the aperture in the hole are more than or equal to the hook footpath of crotch mechanical arm handgrip crotch, then by described cold and hot food bag shape business
Product classification is sequentially placed into the memory cell of cold and hot food bag cabinet；
Described cold and hot food bag shape commodity barcode scanning, which hooks up step, to be included：
1), customer selects corresponding commodity, this is swept by the barcode scanning portion on control centre of mobile scanning terminal robot device
Code completes reimbursement of expense by Alipay or wechat；
2) after, the selection of control centre of robot device reception consumer items and payment finish instruction, inquiry obtains the commodity and existed
Position and emission direction in cold and hot food bag cabinet, and send movement instruction, three axle right angle machines to three axle rectangular robots
People drives crotch mechanical arm handgrip to promote the fan door of cold and hot food bag cabinet, completes cold and hot food bag cabinet opening door operation；
3), control centre of robot device sends movement instruction to three axle rectangular robots, and three axle rectangular robots drive curved
Hook mechanical arm handgrip is moved to above commodity position；
4), control centre of robot device sends hook according to robot vision element analysis result to crotch mechanical arm handgrip
Instruction fetch, crotch hooks up corresponding commodity, and sends customer to by three axle rectangular robots；
5) after, control centre of robot device reception consumer items take instruction, three axle rectangular robots drive crotch machinery
Arm handgrip pulls the fan door of cold and hot food bag cabinet, completes cold and hot food bag cabinet door-closing operation.
The technical effects of the invention are that：It is simple in construction, practical, it is hardly damaged, maintenance is also very convenient, makes compared to tradition
The vendor of manipulator jig arm, low cost, and in the absence of traditional manipulator jig arm existing gripping time it is long,
Gripping often caused by wear slippage problems, it is economical and practical and durable, ensure vendor it is long when utilization rate, take product
Difficulty is low and reliability is high, and the height of whole device is also shorter, improves its space availability ratio.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is Fig. 1 partial enlarged drawing.
Embodiment
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.
Referring to the drawings, it is a kind of to support the vendor of a variety of cold and hot food bag shape commodity, including be arranged at cold and hot
Three axle rectangular robots 10 above food bag cabinet A, the He of robot vision unit 20 is set on three axle rectangular robots 10
Crotch mechanical arm handgrip 30, the side of three axle rectangular robot 10 set control centre of robot device 40, described robot vision
Unit 20 and crotch mechanical arm handgrip 30 and 40 wired or wireless connection of control centre of robot device, the control of described robot
Barcode scanning portion 41 is set on central apparatus 40, and described barcode scanning portion 41 wirelessly coordinates with mobile terminal 50；
Three described axle rectangular robots 10 include drive in the X-axis mechanical arm 11 on cold and hot food bag cabinet A Over-The-Counters face,
Y-axis mechanical arm 12, vertical X axis mechanical arm 11 and the Y that vertical X axis mechanical arm 11 is arranged on the same plane of X-axis mechanical arm 11
The Z axis mechanical arm 13 of the place plane of shaft mechanical arm 12, described crotch mechanical arm handgrip 30 are arranged under Z axis mechanical arm 13
Portion；
The bottom of described crotch mechanical arm handgrip 30 sets crotch 31, and described crotch 31 is arranged at cold and hot food bag and deposited
Container A fan door A2 surface；
Described robot vision unit 20 is arranged at the top side of three axle rectangular robot 10Z shaft mechanicals arms 13, machine
The camera 21 arbitrarily rotated around robot vision unit 20 is set in device people visual unit 20.
Further, the storage unit A 1 that multiple bores differ is provided with described cold and hot food bag cabinet A, it is described
Storage unit A 1 into cuboid chamber shape, the underface of storage unit A 1 sets flat board, and the bottom of described flat board sets bullet
Spring post, described spring stack can stretch up and down.This stretches up and down to be controlled by control centre of robot device (40), can also
Subtracted by the commodity on flat board, increase weight and realize the upper and lower flexible of spring stack, this upper and lower stroke control commodity and memory cell
A1 accent is almost parallel.
Further, described mobile terminal 50 is mobile phone.
The main building block of apparatus of the present invention is illustrated below：Control centre of robot device 40 is according to customer to commodity
Selection and payment, three axle rectangular robots 10 of commander move, and according to the analysis result of robot vision unit 20, command bender
Tool arm handgrip 30 specifically hooks up corresponding commodity.Three axle rectangular robots 10 instruct according to control centre of robot device 40, complete
The motion positions of crotch mechanical arm handgrip 30.Finally determine the position that hooks up that robot vision unit 20 completes specifically commodity to be hooked up
Position, so that what crotch mechanical arm handgrip 30 was finally completed commodity hooks up operation.Cold and hot food bag cabinet A is by multiple not of uniform size
Storage unit A 1 form, each storage unit A 1 is a rectangular body cavity, be immediately below the centre of rectangular body cavity one by
The support platform that the flat board of four spring stack supports is formed, for depositing classified commodity.
The control system that the present invention uses forms with the grade framework of three axle rectangular robot 10, simple in construction, practical, not rapid wear
Bad, maintenance is also very convenient.Analyzed using robot vision unit 20, it is real-time using the camera 21 of robot vision unit 20
Collection crotch mechanical arm handgrip 30 moves and commodity image, completes analysis, and it is curved to complete commander by control centre of robot device 40
Hook mechanical arm handgrip 30, accurately triggers corresponding commodity.Crotch mechanical arm handgrip 30 uses hook formula handgrip, has simply, can
Lean on, be applicable the crawl of a variety of different shape food concessionaire's product, and to realize that different shape food concessionaire's product reliably capture, in food
An aperture is made a call in concessionaire's product edge fixed position, and the aperture and the crotch 31 of the lower end of crotch mechanical arm handgrip 30 coordinate, so as to reality
The reliable crawl of existing commodity, the structure of this crotch mechanical arm handgrip 30 and crotch 31 is compared to the manipulator folder that tradition uses
Arm, cost is relatively low, and in the absence of traditional manipulator jig arm in the presence of the gripping time is long, often existing abrasion skidding is asked for gripping
Topic, it is economical and practical and durable the problem of so as to cause to grip shakiness.Three axle rectangular robots 10 complete crotch mechanical arm handgrip 30
In the motion of cold and hot food bag cabinet A three dimensions, and cold and hot food bag cabinet A fan doors A2 switch.Cold and hot food
The storage unit A 1 that multiple caliber sizes differ is placed in thing bag cabinet A, each storage unit A 1 is a rectangular fluid chamber,
There is a flat board by four spring stack supports centre, stacks each classified commodity above, after the top commodity are removed, spring stack
Spring flat board will be promoted to rise automatically, so as to effectively shortening the movement travel of three axle rectangular robot 10Z shaft mechanicals arm 13, reduce
Difficulty and reliability are hooked up, and reduces the height of whole device, improves its space availability ratio.
A kind of application method of vendor for supporting a variety of cold and hot food bag shape commodity of the present invention：
Step is hooked up including cold and hot food bag shape commodity deposition step and cold and hot food bag shape commodity barcode scanning；
Described cold and hot food bag shape commodity deposition step includes first beating cold and hot food bag shape commodity packaging edge
Hole, the aperture in the hole are more than or equal to the hook footpath of the crotch 31 of crotch mechanical arm handgrip 30, then by described cold and hot food bag shape
Shape commodity classification is sequentially placed into cold and hot food bag cabinet A storage unit A 1；
Described cold and hot food bag shape commodity barcode scanning, which hooks up step, to be included：
1), customer selects corresponding business by the barcode scanning portion 41 on the scanning machine people control centre device 40 of mobile terminal 50
Product, the barcode scanning complete reimbursement of expense by Alipay or wechat；
2) after, the selection of the reception of control centre of robot device 40 consumer items and payment finish instruction, inquiry obtains the commodity
Position and emission direction in cold and hot food bag cabinet A, and send movement instruction, three axle right angles to three axle rectangular robots 10
Robot 10 drives crotch mechanical arm handgrip 30 to promote cold and hot food bag cabinet A fan door A2, completes cold and hot food bag storage
Cabinet A opening door operations；
3), control centre of robot device 40 sends movement instruction, three axle rectangular robots 10 to three axle rectangular robots 10
Crotch mechanical arm handgrip 30 is driven to move to above commodity position；
4), control centre of robot device 40 is according to the analysis result of robot vision unit 20, to crotch mechanical arm handgrip 30
Transmission hooks up instruction, and crotch 31 hooks up corresponding commodity, and sends customer to by three axle rectangular robots 10；
5) after, the reception of control centre of robot device 40 consumer items take instruction, three axle rectangular robots 10 drive crotch
Mechanical arm handgrip 30 pulls cold and hot food bag cabinet A fan door A2, completes cold and hot food bag cabinet A door-closing operations.
This method is using the positioning of the camera 21 of robot vision unit 20, and control centre of robot device 40 is according to machine
The analysis result of people's visual unit 20, hook up instruction to the transmission of crotch mechanical arm handgrip 30 and hook up commodity, complete automatic sale, entirely
Operating process simple and stable, be not in sliding goods phenomenon, ensure vendor it is long when utilization rate.
Below in conjunction with the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described,
Obviously, described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Based in the present invention
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, all
Belong to the scope of protection of the invention.
Claims (4)
- A kind of 1. vendor for supporting a variety of cold and hot food bag shape commodity, it is characterised in that：It is cold and hot including being arranged at Three axle rectangular robots (10) above food bag cabinet (A), robot vision list is set on three axle rectangular robots (10) First (20) and crotch mechanical arm handgrip (30), three axle rectangular robot (10) sides set robot control centre's device (40), institute The robot vision unit (20) and crotch mechanical arm handgrip (30) and control centre of robot device (40) stated are wired or wireless Connect, barcode scanning portion (41) are set on described control centre of robot device (40), described barcode scanning portion (41) and mobile terminal (50) it is wireless to coordinate；Three described axle rectangular robots (10) include driving in the X-axis mechanical arm on cold and hot food bag cabinet (A) Over-The-Counter face (11), on X-axis mechanical arm (11) same plane vertical X axis mechanical arm (11) arrange Y-axis mechanical arm (12), vertical X axis The Z axis mechanical arm (13) of plane where mechanical arm (11) and Y-axis mechanical arm (12), described crotch mechanical arm handgrip (30) are set In the bottom of Z axis mechanical arm (13)；The bottom of described crotch mechanical arm handgrip (30) sets crotch (31), and described crotch (31) is arranged at cold and hot food bag The surface of the fan door (A2) of cabinet (A)；Described robot vision unit (20) is arranged at the top side of three axle rectangular robot (10) Z axis mechanical arms (13), The camera (21) arbitrarily rotated around robot vision unit (20) is set on robot vision unit (20).
- 2. a kind of vendor for supporting a variety of cold and hot food bag shape commodity according to claim 1, its feature It is：The memory cell (A1) that multiple bores differ, described storage list are provided with described cold and hot food bag cabinet (A) First (A1) sets flat board into cuboid chamber shape, the underface of memory cell (A1), and the bottom of described flat board sets spring stack, Described spring stack can stretch up and down.
- 3. a kind of vendor for supporting a variety of cold and hot food bag shape commodity according to claim 1, its feature It is：Described mobile terminal (50) is mobile phone.
- A kind of 4. application method for the vendor for supporting a variety of cold and hot food bag shape commodity, it is characterised in that：Step is hooked up including cold and hot food bag shape commodity deposition step and cold and hot food bag shape commodity barcode scanning；Described cold and hot food bag shape commodity deposition step includes first punching cold and hot food bag shape commodity packaging edge, should The aperture in hole is more than or equal to the hook footpath of crotch mechanical arm handgrip (30) crotch (31), then by described cold and hot food bag shape Commodity classification is sequentially placed into the memory cell (A1) of cold and hot food bag cabinet (A)；Described cold and hot food bag shape commodity barcode scanning, which hooks up step, to be included：1), customer is corresponding by the barcode scanning portion (41) on mobile terminal (50) scanning machine people control centre device (40), selection Commodity, the barcode scanning complete reimbursement of expense by Alipay or wechat；2) after, the selection of control centre of robot device (40) reception consumer items and payment finish instruction, inquiry obtains the commodity and existed Position and emission direction in cold and hot food bag cabinet (A), and movement instruction is sent to three axle rectangular robots (10), three axles are straight Angle robot (10) drives crotch mechanical arm handgrip (30) to promote the fan door (A2) of cold and hot food bag cabinet (A), completes cold and hot Food bag cabinet (A) opening door operation；3), control centre of robot device (40) sends movement instruction, three axle rectangular robots to three axle rectangular robots (10) (10) crotch mechanical arm handgrip (30) is driven to move to above commodity position；4), control centre of robot device (40) is according to robot vision unit (20) analysis result, to crotch mechanical arm handgrip (30) send and hook up instruction, crotch (31) hooks up corresponding commodity, and sends customer to by three axle rectangular robots (10)；5) after, control centre of robot device (40) reception consumer items take instruction, three axle rectangular robots (10) drive crotch Mechanical arm handgrip (30) pulls the fan door (A2) of cold and hot food bag cabinet (A), completes cold and hot food bag cabinet (A) shutdown behaviour Make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710660328.XA CN107492198A (en) | 2017-08-04 | 2017-08-04 | A kind of vendor and its application method for supporting a variety of cold and hot food bag shape commodity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710660328.XA CN107492198A (en) | 2017-08-04 | 2017-08-04 | A kind of vendor and its application method for supporting a variety of cold and hot food bag shape commodity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107492198A true CN107492198A (en) | 2017-12-19 |
Family
ID=60645201
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710660328.XA Pending CN107492198A (en) | 2017-08-04 | 2017-08-04 | A kind of vendor and its application method for supporting a variety of cold and hot food bag shape commodity |
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| Country | Link |
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| CN (1) | CN107492198A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436905A (en) * | 2018-02-06 | 2018-08-24 | 中山微宇电器科技有限公司 | A kind of coordinate acquisition correction system of vending machine |
| CN109712317A (en) * | 2018-12-29 | 2019-05-03 | 南京美果电子商务有限公司 | A kind of new retail trade system with Internet of Things monitoring technology |
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| CN102915597A (en) * | 2011-08-02 | 2013-02-06 | 黄荻洁 | Commodity channel and commodity outlet method of automatic vending machine |
| CN103325179A (en) * | 2013-06-13 | 2013-09-25 | 江阴纳尔捷机器人有限公司 | Automatic vending machine |
| CN103927817A (en) * | 2014-04-11 | 2014-07-16 | 盈多科技无锡有限公司 | Numerically-controlled intelligent visual vending machine powered by photovoltaic power generation |
| CN105069914A (en) * | 2015-08-21 | 2015-11-18 | 澳柯玛股份有限公司 | Automatic vending machine with refrigerator |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102915597A (en) * | 2011-08-02 | 2013-02-06 | 黄荻洁 | Commodity channel and commodity outlet method of automatic vending machine |
| CN202453994U (en) * | 2012-03-06 | 2012-09-26 | 深圳市证通电子股份有限公司 | Self-help gold vending machine and embedded system thereof |
| CN103325179A (en) * | 2013-06-13 | 2013-09-25 | 江阴纳尔捷机器人有限公司 | Automatic vending machine |
| CN103927817A (en) * | 2014-04-11 | 2014-07-16 | 盈多科技无锡有限公司 | Numerically-controlled intelligent visual vending machine powered by photovoltaic power generation |
| CN105069914A (en) * | 2015-08-21 | 2015-11-18 | 澳柯玛股份有限公司 | Automatic vending machine with refrigerator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436905A (en) * | 2018-02-06 | 2018-08-24 | 中山微宇电器科技有限公司 | A kind of coordinate acquisition correction system of vending machine |
| CN109712317A (en) * | 2018-12-29 | 2019-05-03 | 南京美果电子商务有限公司 | A kind of new retail trade system with Internet of Things monitoring technology |
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Application publication date: 20171219 |
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