CN108171882A - Automatic goods taking device and method - Google Patents
Automatic goods taking device and method Download PDFInfo
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- CN108171882A CN108171882A CN201810107106.XA CN201810107106A CN108171882A CN 108171882 A CN108171882 A CN 108171882A CN 201810107106 A CN201810107106 A CN 201810107106A CN 108171882 A CN108171882 A CN 108171882A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 178
- 230000009471 action Effects 0.000 claims abstract description 10
- 230000006835 compression Effects 0.000 claims description 87
- 238000007906 compression Methods 0.000 claims description 87
- 230000001960 triggered effect Effects 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims description 2
- 238000005265 energy consumption Methods 0.000 abstract description 6
- 235000013162 Cocos nucifera Nutrition 0.000 description 72
- 244000060011 Cocos nucifera Species 0.000 description 46
- 241000737241 Cocos Species 0.000 description 26
- 230000001360 synchronised effect Effects 0.000 description 11
- 239000010903 husk Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000000354 decomposition reaction Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 235000021022 fresh fruits Nutrition 0.000 description 1
- 238000006386 neutralization reaction Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
Classifications
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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
- G07F11/007—Coin-freed apparatus for dispensing, or the like, discrete articles wherein the storage and dispensing mechanism are configurable in relation to the physical or geometrical properties of the articles to be stored or dispensed
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/46—Coin-freed apparatus for dispensing, or the like, discrete articles from movable storage containers or supports
- G07F11/60—Coin-freed apparatus for dispensing, or the like, discrete articles from movable storage containers or supports the storage containers or supports being rectilinearly movable
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/72—Auxiliary equipment, e.g. for lighting cigars, opening bottles
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Abstract
The invention discloses a kind of automatic goods taking device and method, automatic goods taking device includes：Column and picking walking mechanism, column are equipped with rack, and column first end is connect with active rotating shaft, column second end and driven axis connection, the output shaft of active rotating shaft and rotary drive motor is by being driven chain link, and under the action of rotary drive motor, active rotating shaft drives column rotation；Picking walking mechanism includes picking walker, picking pallet, picking walking gear and picking movable motor, picking walker is slidably arranged on column, picking walking gear is rotatably arranged on picking walker, the output axis connection of picking walking gear and picking movable motor, picking walking gear is engaged with the rack on column, under the action of picking movable motor, picking walking gear drives picking walker to be moved along rack.The automatic goods taking device of the present invention is simple and compact for structure, and picking method and step is few, easy to operate, and the speed for obtaining cargo is fast, efficient, and low energy consumption.
Description
Technical field
The present invention relates to the structure technical field of improvement of automatic vending machine, espespecially a kind of automatic goods taking device and method.
Background technology
In recent years, with the fast development of robot technology, intelligent mobile robot plays in human lives
More and more important role, is widely applied in all trades and professions, wherein, vending machine is quickly grown, still, new
Field is processed and peddled to the automatic of fresh fruit, and coconut vending machine is on the market novel product, and structure is perfect not enough.
The picking structure of coconut and the Unclosing structure of coconut husk are very crucial in coconut vending machine, and in existing vending machine, coconut is general
It is that multilayer, the form of left and right multiple row are arranged up and down in storage chamber, picking walking mechanism needs move up and down to certain
One position could obtain the coconut of fixed bed and fixed row, then coconut is transported at Kai Ye mechanisms again and carries out out coconut palm, existing
Picking walking mechanism obtain a coconut need longer time, the efficiency for obtaining coconut is very low, and energy consumption is higher.
Therefore, the application is dedicated to providing a kind of novel automatic goods taking device and method.
Invention content
The object of the present invention is to provide a kind of automatic goods taking device and methods, and automatic goods taking device is simple and compact for structure, takes
Pallet piling up method step is few, easy to operate, and the speed for obtaining cargo is fast, efficient, and low energy consumption.
Technical solution provided by the invention is as follows：
A kind of automatic goods taking device, including：Column, the column are equipped with rack, the first end of the column and a master
The output shaft of turn axis connection, the second end of the column and a driven axis connection, the active rotating shaft and rotary drive motor
By a transmission chain link, under the action of the rotary drive motor, the active rotating shaft drives the column rotation；Picking
Walking mechanism, the picking walking mechanism include picking walker, picking walking gear and picking movable motor, the picking row
It walks frame to be slidably arranged on the column, the picking walker is equipped with a picking pallet, and the picking walking gear can turn
It is arranged on dynamicly on the picking walker, the output axis connection of the picking walking gear and the picking movable motor, institute
Picking walking gear is stated to engage with the rack on the column, under the action of the picking movable motor, the picking walking
Gear drives the picking walker to be moved along the rack.
Automatic goods taking device in the present invention makes the picking walking mechanism on column by rotary drive motor Rotary cloumn
Picking walking gear is driven to be moved along the rack on column towards first direction and second direction, then by picking movable motor,
Picking walking gear drives picking walker to be moved along column, so as to which picking pallet be driven to move, makes picking walking mechanism can be with
First position picking in a first direction carries out out coconut palm in the second direction second position, and this automatic goods taking device is compact-sized, accounts for
Small with space, picking is efficient, and low energy consumption.
Preferably, the both sides of the column are respectively provided with a guide rail, and the guide rail is located at the both sides of the rack, the picking
Walker is slidably connected to by a pair of of sliding block on the guide rail.
Picking walking mechanism can be made along column even running by the cooperation of sliding block and guide rail, so as to which picking be made to walk
Mechanism can smoothly conveying articles.
Preferably, the first position switch and second being electrically connected with the picking movable motor are additionally provided on the column
Switch is put, the picking walker is equipped with to be touched for triggering the picking switch of the first position switch and second position switch
Block, when the picking walking mechanism is when the column uplink goes to corresponding collision block position, movable motor is out of service.In picking
When walking mechanism runs to preset target position, corresponding position switch can be triggered simultaneously, picking is controlled by position switch
Movable motor is out of service, and setting in this way can effectively limit picking walking mechanism, and motor is avoided to drive picking walking
Mechanism is more than target location, and picking walking mechanism is further made to remain fixed state in target location.
Preferably, the automatic goods taking device further includes：Walking mechanism is compressed, the compression walking mechanism, which includes compressing, goes
Frame is walked, walking gear is compressed, compress movable motor and compresses pawl, the compression walking gear is rotatably arranged in the compression
It is described to compress walking gear and the output axis connection for compressing movable motor, the compression walking gear and institute on walker
The rack engagement on column is stated, the compression pawl is arranged on the compression walker, and the pawl mouth for compressing pawl is described in
Picking walking mechanism, under the action of the compression movable motor, the compression walking gear drives the compression walker edge
The rack movement, until the compression pawl pushes down the cargo in the picking walking mechanism.
The automatic goods taking device of the present invention first passes through picking walking mechanism and obtains cargo, then will be obtained by compressing walking mechanism
It takes and is pressed in picking walking mechanism, so as to allow picking walking mechanism smoothly by goods movement to target location, for
Coconut vending machine fixes coconut by compressing walking mechanism, can also open coconut husk to Shi Kai coconut palms mechanism more exactly, keep away
Exempt from coconut rotated during coconut palm is opened cause out coconut palm fail.
Preferably, the compression pawl is equipped with a connecting pole, and the compression walker is equipped with one for installing the company
The mounting hole of column is connect, the hole wall of the mounting hole is equipped with sliding slot, and the connecting pole is equipped with a slide bar, and the slide bar is inserted in
In the sliding slot, and the slide bar by the sliding slot sliding axially along the connecting pole, a bullet is equipped in the mounting groove
Property part, when the compression pawl is by external pressure, the connecting pole compresses the elastic component.
By setting elastic component between compressing pawl and compressing walker, compression pawl is made to can be adapted for the goods of different height
Object ensure that can effectively cargo be fixed by compressing pawl.
Preferably, the compression pawl includes multiple press strips, and multiple press strips are arranged around a central shaft, the press strip packet
First segment and second segment are included, the distance between the first segment of the press strip and the central shaft are along from pawl bottom to the direction of pawl mouth
Gradually increase, the second segment of the press strip are arranged in parallel with the central shaft.
Preferably, the compression pawl further includes a stiffening ring, described to strengthen around multiple press strip settings.
It, can be on pawl be compressed by the press strip for setting length shorter when automatic goods taking device is applied to coconut vending machine
A notch is formed, consequently facilitating Kai Ye mechanisms open coconut husk by the notch.
Preferably, the both sides of the column are respectively provided with a guide rail, and the guide rail is located at the both sides of the rack, the compression
Walker is slidably connected to by a pair of of sliding block on the guide rail.
Preferably, the third place switch being electrically connected with the compression movable motor and the 4th are additionally provided on the column
Switch is put, the walker that compresses is equipped with the third place switchs and the clamping switch of the 4th position switch touches for triggering
Block, when the compression walking mechanism is when the column uplink goes to corresponding position, the compression movable motor is out of service.
When compression walking mechanism runs to preset target position, corresponding position switch can be triggered simultaneously, passes through position
Switch is out of service to control compression movable motor, and setting in this way can effectively be limited to compressing walking mechanism, avoid electricity
It is more than target location that machine, which drives and compresses walking mechanism, and compression walking mechanism is further made to remain fixed state in target location.
A kind of automatic picking method, including step：
S10：Column is rotated, makes the picking walking mechanism being located on the column towards first direction；
S20：The picking walking mechanism is driven to be moved to first position on the column；
S30：Cargo is placed in the picking walking mechanism；
S40：The picking walking mechanism is driven to be moved to the second position on the column；
S50：The column is rotated, makes the picking walking mechanism equipped with cargo towards second direction.
Automatic picking method and step in the present invention is few, and easy to operate, picking is efficient.
Preferably, it is described to take when the picking walking mechanism runs to the first position in the step S20
Picking switch collision block triggering first position switch in goods walking mechanism, the first position switch and the picking walking mechanism
In the electrical connection of picking movable motor, first position switch controls the picking movable motor out of service after being triggered；
In the step S40, when the picking walking mechanism runs to the second position, taking in the picking walking mechanism
Goods switch collision block triggering second position switch, the second position switch and the picking movable motor in the picking walking mechanism
Electrical connection, the second position switch control the picking movable motor out of service after being triggered.
It can be with simplified control system, when picking walking mechanism runs to target location, picking by installation position switch
Walking mechanism triggers corresponding position switch, and the operation of movable motor, this control are controlled by corresponding position switch
Mode accuracy is high, efficient.
Preferably, the automatic picking method further includes step S60 after the step S30：Described compress is driven to go
It walks mechanism and is moved to the third place on the column, when the compression walking mechanism is located at the third place, the pressure
The cargo is pressed in the picking walking mechanism by the compression pawl in tight walking mechanism.
It can make picking walking mechanism that can be effectively fixed in cargo in conveying articles by compressing walking mechanism
In picking walking mechanism, cargo is avoided to come off from picking walking mechanism, when cargo is coconut, by compressing walking mechanism pressure
Tight coconut can make open the process of coconut palm more smooth, coconut is avoided to be shaken during coconut palm is opened, coconut palm is caused out to fail.
Preferably, in the step S60, when the compression walking mechanism is moved to the third place, the pressure
Clamping switch collision block triggering the third place switch in tight walking mechanism, the third place switch and the compression walking mechanism
In the electrical connection of compression movable motor, the third place switch controls the compression movable motor out of service after being triggered.
It, when compression walking mechanism runs to target location, can be compressed with simplified control system by installation position switch
Walking mechanism triggers corresponding position switch, and the operation of movable motor, this control are controlled by corresponding position switch
Mode accuracy is high, efficient.
A kind of automatic goods taking device provided by the invention and method can bring following at least one advantageous effect：
1st, the automatic goods taking device in the present invention makes the picking vehicle with walking machine on column by rotary drive motor Rotary cloumn
Structure drives picking walking gear to be moved along the rack on column towards first direction or second direction, then by picking movable motor
Dynamic, picking walking gear drives picking walker to be moved to first position or the second position along column, and picking walking mechanism is the
During one direction first position, cargo is placed in picking walking mechanism, picking walking mechanism at the second direction second position,
Coconut palm is carried out out to the coconut in picking walking mechanism, this automatic goods taking device is compact-sized, occupies little space, and picking is imitated
Rate is high, and low energy consumption.
2nd, automatic goods taking device of the invention first passes through picking walking mechanism and obtains cargo, then will by compressing walking mechanism
Object is obtained to be pressed in picking walking mechanism, so as to allow picking walking mechanism smoothly by goods movement to target location,
For coconut vending machine, coconut is fixed by compressing walking mechanism, can also open coconut palm to Shi Kai coconut palms mechanism more exactly
Shell avoids coconut from being rotated during coconut palm is opened and coconut palm is caused out to fail.
3rd, the present invention by installation position switch can with simplified control system, when walking mechanism runs to target location,
Walking mechanism triggers corresponding position switch, and the operation of movable motor, this control are controlled by corresponding position switch
Mode accuracy is high, efficient.
4th, automatic picking method and step of the invention is simple, and easy to operate, picking is efficient, and control system is simple.
Description of the drawings
Below by a manner of clearly understandable, preferred embodiment is described with reference to the drawings, above-mentioned characteristic, skill to the present invention
Art feature, advantage and its realization method are further described.
Fig. 1 is a kind of structure diagram of specific embodiment of the automatic goods taking device of the present invention；
Fig. 2 is the decomposition diagram of the automatic goods taking device central post and the structure being arranged on column shown in Fig. 1；
Fig. 3 is the decomposition diagram of picking walking mechanism in automatic goods taking device shown in Fig. 1；
Fig. 4 is the decomposition diagram that walking mechanism is compressed in the automatic goods taking device shown in Fig. 1；
Fig. 5 a are structure top view of the picking walking mechanism when obtaining cargo in automatic goods taking device shown in Fig. 1；
Fig. 5 b are structure top view of the picking walking mechanism when handling cargo in automatic goods taking device shown in Fig. 1.
Drawing reference numeral explanation：
Column 101, rack 102, guide rail 103, sliding block 1031, driven shaft 104, bearing base 105, active rotating shaft 106, axis
Bearing sleeve 107, fixing and mounting bracket 108, big synchronous pulley 109, small synchronous pulley 1010, synchronous belt 1020, rotary drive motor
1030, rotary drive motor stent 1040, position-limited rack 1050, switch bracket 1060, first position switch 1061, the second position is opened
1062 are closed, the third place switchs 1063, the 4th position switch 1064；
Picking walking mechanism 20, picking walker 201, picking movable motor 202, picking movable motor stent 2021 take
Goods walking gear 203, picking switch collision block 204, picking pallet 205, coconut palm emperor 2051；
Walking mechanism 30 is compressed, slider frame 301 compresses movable motor 302, compresses movable motor stent 3021, compresses row
Gear 303 is walked, clamping switch collision block 304 compresses walker 305, and spring 306 compresses pawl 307, slide bar 308.
Specific embodiment
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, control is illustrated below
The specific embodiment of the present invention.It should be evident that the accompanying drawings in the following description is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing, and obtain other embodiments.To make simplified form, only schematically showing and phase of the present invention in each figure
The part of pass, they do not represent its practical structures as product.
Specific embodiment one
As shown in figures 1-4, this specific embodiment discloses a kind of automatic goods taking device, walks including column 101 and picking
Mechanism 20.Column 101 is equipped with rack 102, first end (upper end of column 101 i.e. shown in Fig. 2) and the active of column 101
Shaft 106 connects, and the second end (lower end of column 101 i.e. shown in Fig. 2) of column 101 is connect with driven shaft 104, actively turns
Axis 106 and the output shaft of rotary drive motor 1030 are driven chain link by one, under the action of rotary drive motor 1030,
Active rotating shaft 106 drives column 101 to rotate.As shown in figure 3, picking walking mechanism 20 includes picking walker 201, picking row
Gear 203 and picking movable motor 202 are walked, picking walker 201 is slidably arranged on column 101, and picking walker 201 is also set
There is a picking pallet 205, picking walking gear 203 is rotatably arranged on picking walker 201, picking movable motor 202
It is arranged on a picking movable motor stent 2021, the output axis connection of picking walking gear 203 and picking movable motor 202,
Picking walking gear 203 is engaged with the rack 102 on column 101, under the action of picking movable motor 202, picking walking tooth
203 drive picking walker 201 of wheel is moved along rack 102.
Specifically, referring to Fig. 1, Fig. 2, the first end that active rotating shaft 106 is fixedly installed on column 101 is (i.e. shown in Fig. 2
The top of column 101), active rotating shaft 106 is threaded through on bearing holder (housing, cover) 107, and bearing holder (housing, cover) 107 is fixedly installed on fixing and mounting bracket
108, fixing and mounting bracket 108 is fixedly mounted at the top of its applications device (such as automatic vending machine), and driven spindle 104 is fixed
The second end (bottom end of column 101 i.e. shown in Fig. 2) of column 101 is arranged on, driven spindle 104, which is threaded through, holds pedestal 105
On, bearing base 105 is fixedly mounted on its applications device (such as automatic vending machine) bottom.
In embodiments of the present invention, referring to Fig. 1, Fig. 2, big synchronous pulley 109 is threaded through on active rotating shaft 106, small synchronization
Belt wheel 1010 is threaded through on the output shaft of rotary drive motor 1030 and is rotationally set by rotary drive motor stent 1040
It puts on fixing and mounting bracket 108, big synchronous pulley 109, by 1020 passing power of synchronous belt, passes through with small synchronous pulley 1010
Rotary drive motor 1030 drives small synchronous pulley 1010 to rotate, and small synchronous pulley 1010 drives big synchronization by synchronous belt 1020
Belt wheel 109 rotates, and big synchronous pulley 109 drives column 101 to rotate by active rotating shaft 106, so that being arranged on column 101
On picking walking mechanism 20 rotate with.
Specifically, the both sides of column 101 are respectively provided with a guide rail 103, referring to Fig. 1,2, rack 102 is fixedly mounted on column
101 front, and a pair of guide rails 103 is respectively symmetrically fixed at the two sides of column 101, the both ends of column 101 are respectively provided with
A pair of of position-limited rack 1050, and position-limited rack 1050 is located at the end of guide rail 103, by setting position-limited rack 1050 can be to avoid picking row
Mechanism is walked to slip from column 101.Picking walker 201 is slidably connected by a pair of of sliding block 1031 of lower section shown in Fig. 2
In on guide rail 103.Picking walking mechanism can be made along column even running by the cooperation of sliding block and guide rail, so as to make picking
Walking mechanism can smoothly conveying articles.
Specifically, the first position switch 1061 and the being electrically connected with picking movable motor 202 is additionally provided on column 101
Two position switch 1062, first position switch 1061 and second position switch 1062 are fixed on vertical by switch bracket 1060 respectively
The back side of column 101, picking walker 201 is equipped with to be taken for triggering first position switch 1061 and second position switch 1062
Goods switchs collision block 204, and when picking walking mechanism 20 is when 101 uplink of column goes to first position, picking switch collision block 204 touches
First position switch 1061 is sent out, switch 1061 control picking movable motor 202 in first position is out of service, when picking walking mechanism
20 when 101 uplink of column goes to the second position, and picking switch collision block 204 triggers second position switch 1062, and the second position is opened
It is out of service to close 1062 control picking movable motors 202.
When picking walking mechanism runs to preset target position, corresponding position switch can be triggered simultaneously, passes through position
It switchs to control picking movable motor out of service, setting in this way can effectively limit picking walking mechanism, avoid electricity
It is more than target location that machine, which drives picking walking mechanism, and picking walking mechanism is further made to remain fixed state in target location.
Specifically, as shown in Fig. 1,4, the automatic goods taking device in this specific embodiment, which further includes, compresses walking mechanism 30,
It compresses walking mechanism 30 to include compressing movable motor 302, compress walking gear 303, compress walker 305 and compress pawl 307, pressure
Tight walking gear 303, which is rotatably arranged in, to be compressed on walker 305, compresses walking gear 303 with compressing movable motor 302
Output axis connection, compress walking gear 303 engaged with the rack 102 on column 101, compression walker 305 be slidably arranged in
On column 101 and positioned at the top of picking walker 201, compress pawl 307 and be arranged on compression walker 305, compress pawl 307
Pawl mouth under the action of movable motor 302 is compressed, compresses walking gear 303 and drives compression walking towards picking walking mechanism 20
Frame 305 is moved along rack, until compression pawl 307 pushes down the cargo in picking walking mechanism 20.
The automatic goods taking device of the present invention first passes through picking walking mechanism and obtains cargo, then will be obtained by compressing walking mechanism
The cargo taken is pressed in picking walking mechanism, so as to allow picking walking mechanism smoothly by goods movement to target position
It puts, when the automatic goods taking device in the present embodiment is applied to coconut vending machine, coconut is fixed by compressing walking mechanism, also
Can coconut husk be opened to Shi Kai coconut palms mechanism more exactly, coconut be avoided to be rotated during coconut palm is opened, coconut palm is caused out to fail.
Specifically, compressing pawl 307 is equipped with a connecting pole, compresses walker 305 and be equipped with one for installing connecting pole
Mounting hole, the hole wall of mounting hole are equipped with sliding slot, specifically, as shown in figure 4, sliding slot here is slotted hole structure, on connecting pole
Equipped with slide bar 308, slide bar 308 is inserted in sliding slot, and slide bar 308 by sliding slot sliding axially along connecting pole, in mounting hole
Equipped with a spring 306, (for example coconut of the pawl on picking walking mechanism is compressed, coconut palm are compressed by external pressure when compressing pawl 307
Son, which can be given, compresses the upward applied external force of pawl) when, connecting pole compressed spring 306.Pawl is compressed by spring with compressing walker
Connection, allows compression pawl to be fixed the coconut of different height.
Specifically, as shown in figure 4, compressing pawl 307 includes multiple press strips, multiple press strips are arranged around a central shaft, press strip
Including first segment and second segment, the first segment of press strip is relative to its second segment bending, between the first segment and central shaft of press strip
Distance is along from pawl bottom (top of compression pawl 307 as shown in Figure 4) to pawl mouth (lower part of compression pawl 307 as shown in Figure 4)
Direction gradually increase, second segment and the central shaft of press strip are arranged in parallel.Specifically, compressing pawl 307 further includes a stiffening ring, add
It is set around multiple press strips by force, and stiffening ring is located at the first segment of press strip and the junction of second segment.Specifically, compress pawl 307
Multiple press strips in multiple first press strips, the length of the second segment of multiple first press strips is identical, and less than adjacent thereto other
The length of the second segment of press strip when setting in this way, can form notch in the side for compressing the pawl mouth of pawl.When in the present embodiment
When automatic goods taking device is applied to coconut vending machine, formed by the first shorter press strip of length in the side for compressing pawl 307
Notch can open coconut husk in order to which Kai Ye mechanisms stretch into compress by the notch from the side for compressing pawl in pawl.
Specifically, slider frame 301 is fixed on walker 305 as shown in figure 4, compressing, institute in slider frame 301 and Fig. 2
A pair of of sliding block 1031 of the top shown is fixedly connected, and is compressed walker 305 and is slidably connected to guide rail by this pair of of sliding block 1031
On 103.
In this embodiment, it with reference to shown in Fig. 2,4, is additionally provided on column 101 and is electrically connected with compressing movable motor 302
The third place switch 1063 and the 4th position switch 1064, the third place switch 1063 and the 4th position switch 1064 are distinguished
The back side of column 101 is fixed on by switch bracket 1060, walker 305 is compressed and is equipped with to trigger the third place switch
1063 and the 4th position switch 1064 clamping switch collision block 304, when compress walking mechanism 30 go to third in 101 uplink of column
During position, clamping switch collision block 304 triggers the third place switch 1063, and 1063 control of the third place switch compresses movable motor
302 is out of service, so as to which compression walking mechanism 30 be made to be fixed at the third place.Also, when compression walking mechanism 30 is in column
When 101 uplinks go to the third place, compress what cargo (such as coconut palm emperor 2051) was pressed on by the compression pawl 307 in walking mechanism 30
On picking disk 205 in picking walker 201.When compressing walking mechanism 30 when 101 uplink of column goes to four positions, press
Switch for locking collision block 304 triggers the 4th position switch 1064, and the control of the 4th position switch 1064 compresses movable motor 302 and stops fortune
Row, so as to which compression walking mechanism 30 be made to be fixed at the 4th position.
When compression walking mechanism runs to preset target position, corresponding position switch can be triggered simultaneously, passes through position
Switch is out of service to control compression movable motor, and setting in this way can effectively be limited to compressing walking mechanism, avoid electricity
It is more than target location that machine, which drives and compresses walking mechanism, and compression walking mechanism is further made to remain fixed state in target location.
Automatic goods taking device in this specific embodiment is compact-sized, occupies little space, operates steadily, and picking is efficient,
Low energy consumption.
Automatic goods taking device disclosed in this specific embodiment is suitable for vending machine, is particularly suitable for automatic fresh coconut palm dealer
Machine is sold, with reference to shown in Fig. 1~5, specific implementation step of the automatic goods taking device when obtaining coconut in this specific embodiment is such as
It is lower described：
Rotary drive motor 1030 drives column 101 to rotate to first direction, and picking movable motor 202 drives picking walking
Frame 201 slides into first position on guide rail, and the picking switch collision block 204 on picking walker 201 triggers first position switch
1061, picking movable motors 202 are closed in switch 1061 control in first position, and as shown in Figure 5 a, picking walker 201 is fixed on the
At one direction first position, at this point, coconut is pushed on the picking disk 205 in picking walker 201；
Picking movable motor 202 drives picking walker 201 to slide into the second position, picking walker on guide rail 103
Picking switch collision block 204 on 201 triggers second position switch 1062, and picking walking is closed in switch 1062 control in the second position
Motor 202, at this point, picking walker 201 fixes the second place in a first direction；
It compresses the driving compression walker 305 of movable motor 302 and the third place is slid on guide rail, compress walker 305
On clamping switch collision block 304 trigger the third place switch 1063, the third place switch 1063 control close compress movable motors
302, it compresses walker 305 and fixes at the third place in a first direction, the compression pawl 307 compressed on walker 305 consolidates coconut
It is scheduled on the picking disk in picking walker 201；
Rotary drive motor 1030 drives column 101 to rotate to second direction, as shown in Figure 5 b, the picking row equipped with coconut
Walk mechanism 20 and compress walking mechanism 30 be located at the second direction second place, here, by Kai Ye mechanisms from compression pawl 307
Lateral notch at open coconut husk；
After opening shell, compress the driving compression walker 305 of movable motor 302 and the 4th position is slid on guide rail, press
Clamping switch collision block 304 on tight walker 305 triggers the 4th position switch 1064, and pressure is closed in the control of the 4th position switch 1064
Tight movable motor 302, makes compression walker 305 be fixed at the 4th position of second direction, so as to discharge the coconut palm after opening coconut husk
Son can take coconut away convenient for customer.
It of courses, in other specific embodiments of the automatic goods taking device of the present invention, compresses the specific knot of walking mechanism
Structure can carry out the adjustment of structure according to the features of shape of cargo, can also selectively set；Four position switch can not also
Setting, but the operation of movable motor and stopping are controlled by total controller；The connection mode of walker and column, rotation
The mode of driving motor driving column can be adjusted according to actual needs.
Specific embodiment two
This specific embodiment discloses a kind of automatic picking method more preferred embodiment, should in the automatic picking method
For buying to resell the automatic picking process of coconut palm machine automatically, the automatic picking method in the present embodiment includes step：
S10：Column is rotated, makes the picking walking mechanism being located on column towards first direction；
S20：Driving picking walking mechanism is moved to first position on column, when picking walking mechanism runs to first
When putting, the picking switch collision block triggering first position switch in picking walking mechanism, first position switchs and picking walking mechanism
In picking movable motor electrical connection, first position switch be triggered after control picking movable motor it is out of service；
S30：Coconut is pushed in picking walking mechanism；
S40：Driving picking walking mechanism is moved to the second position on column, when picking walking mechanism runs to second
When putting, the picking switch collision block triggering second position switch in picking walking mechanism, the second position switchs and picking walking mechanism
In picking movable motor electrical connection, the second position switch be triggered after control picking movable motor it is out of service；
S50：Driving compresses walking mechanism and the third place is moved on column, is located at the third place when compressing walking mechanism
When, cargo is pressed in picking walking mechanism by the compression pawl compressed in walking mechanism, and third is moved to when compressing walking mechanism
During position, the clamping switch collision block triggering the third place switch in walking mechanism is compressed, the third place switch is with compressing vehicle with walking machine
Compression movable motor electrical connection in structure, control compression movable motor is out of service after the third place switch is triggered；
S60：Column is rotated, makes the picking walking mechanism equipped with cargo towards second direction.
After step S60, picking walking mechanism is located at the second direction second position, compresses walking mechanism and is in second party
To the third place, the coconut compressed in pawl compression picking walking mechanism in walking mechanism is compressed, at this time to picking walking mechanism
On coconut carry out out coconut palm processing, after treatment, driving compress walking mechanism the 4th position is moved on column, work as compression
When walking mechanism is located at four positions, the compression pawl in walking mechanism is compressed far from the coconut in picking walking mechanism, works as compression
When walking mechanism is moved to four positions, clamping switch collision block the 4th position switch of triggering in compression walking mechanism, the 4th
It puts switch and is electrically connected with compressing the compression movable motor in walking mechanism, control compression walking electricity after the 4th position switch is triggered
Machine is out of service, then, it is possible to be delivered to access section the coconut after shell is opened.
Automatic picking method and step in the present invention is few, and easy to operate, picking is efficient, in step S20 neutralization procedures S40
In, it can be with simplified control system, when picking walking mechanism or compression walking mechanism run to target position by installation position switch
When putting, walking mechanism triggers corresponding position switch, and the operation of movable motor is controlled by corresponding position switch, this
Control mode accuracy is high, efficient.Can convey picking walking mechanism by compressing walking mechanism in step S50
During cargo, cargo can be made to be effectively fixed in picking walking mechanism, cargo is avoided to come off from picking walking mechanism, works as goods
When object is coconut, the process of coconut palm can be made open more smooth by compressing walking mechanism compression coconut, coconut is avoided to open coconut palm mistake
Being shaken in journey causes out coconut palm to fail.
It of courses, in other specific embodiments of the automatic picking method of the present invention, step S50 can selectively be set
It puts；Step S20, can not movable motor be controlled by position switch in 40,50, but row is controlled by total controller
Walk the operation and stopping of motor.
It should be strongly noted that in above-mentioned specific embodiment, automatic goods taking device and method are using cargo as coconut
It is illustrated, still, automatic goods taking device and method in the present invention can also be applied to the acquisition process of other cargos
In.
In addition, it should also be noted that above-described embodiment can be freely combined as needed.The above is only the present invention
Preferred embodiment, it is noted that for those skilled in the art, do not departing from the principle of the invention
Under the premise of, several improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of automatic goods taking device, which is characterized in that including：
Column, the column are equipped with rack, and the first end of the column is connect with an active rotating shaft, the second end of the column
With a driven axis connection, the output shaft of the active rotating shaft and rotary drive motor is by a transmission chain link, in the rotation
Under the action of driving motor, the active rotating shaft drives the column rotation；
Picking walking mechanism, the picking walking mechanism include picking walker, picking walking gear and picking movable motor, institute
Picking walker is stated equipped with picking pallet, the picking walker is slidably arranged on the column, the picking walking tooth
Wheel is rotatably arranged on the picking walker, and the output shaft of the picking walking gear and the picking movable motor connects
It connecing, the picking walking gear is engaged with the rack on the column, under the action of the picking movable motor, the picking
Walking gear drives the picking walker to be moved along the rack.
2. automatic goods taking device according to claim 1, it is characterised in that：
The both sides of the column are respectively provided with a guide rail, and the guide rail is located at the both sides of the rack, and the picking walker passes through
A pair of of sliding block is slidably connected on the guide rail；
And/or；
The first position switch being electrically connected with the picking movable motor and second position switch are additionally provided on the column, it is described
Picking walker is equipped with switchs collision block for triggering the picking of the first position switch and second position switch, is taken when described
For goods walking mechanism when the column uplink goes to corresponding collision block position, movable motor is out of service.
3. automatic goods taking device according to claim 1, which is characterized in that further include：
Walking mechanism is compressed, the compression walking mechanism includes compressing walker, compresses walking gear, compresses movable motor and pressure
Tight pawl, the compression walking gear are rotatably arranged on the compression walker, the compression walking gear and the pressure
The output axis connection of tight movable motor, the compression walking gear are engaged with the rack on the column, the compression pawl setting
On the compression walker, the pawl mouth for compressing pawl is towards the picking walking mechanism, in the compression movable motor
Under effect, the compression walking gear drives the compression walker to be moved along the rack, until the compression pawl pushes down institute
State the cargo in picking walking mechanism.
4. automatic goods taking device according to claim 1, it is characterised in that：
The compression pawl is equipped with a connecting pole, and the walker that compresses is equipped with one for installing the installation of the connecting pole
Hole, the hole wall of the mounting hole are equipped with sliding slot, and the connecting pole is equipped with a slide bar, and the slide bar is inserted in the sliding slot
In, and the slide bar by the sliding slot sliding axially along the connecting pole, an elastic component is equipped in the mounting groove, works as institute
When stating compression pawl by external pressure, the connecting pole compresses the elastic component.
5. automatic goods taking device according to claim 1, it is characterised in that：
It is described compression pawl include multiple press strips, multiple press strips around a central shaft arrange, the press strip include first segment with
Second segment, the distance between the first segment of the press strip and the central shaft gradually increase along from pawl bottom to the direction of pawl mouth,
The second segment of the press strip is arranged in parallel with the central shaft.
6. automatic goods taking device according to claim 5, it is characterised in that：
The compression pawl further includes a stiffening ring, described to strengthen around multiple press strip settings.
7. automatic goods taking device according to claim 1, it is characterised in that：
The both sides of the column are respectively provided with a guide rail, and the guide rail is located at the both sides of the rack, and the compression walker passes through
A pair of of sliding block is slidably connected on the guide rail；
And/or；
The third place switch and the 4th position switch being electrically connected with the compression movable motor are additionally provided on the column, it is described
Compression walker is equipped with the clamping switch collision block for triggering the third place switch and the 4th position switch, when the pressure
It is out of service to compress movable motor when the column uplink goes to corresponding position for tight walking mechanism.
A kind of 8. automatic picking method, which is characterized in that including step：
S10：Column is rotated, makes the picking walking mechanism being located on the column towards first direction；
S20：The picking walking mechanism is driven to be moved to first position on the column；
S30：Cargo is placed in the picking walking mechanism；
S40：The picking walking mechanism is driven to be moved to the second position on the column；
S50：The column is rotated, makes the picking walking mechanism equipped with cargo towards second direction.
9. automatic picking method as described in claim 8, it is characterised in that：
In the step S20, when the picking walking mechanism runs to the first position, in the picking walking mechanism
Picking switch collision block triggering first position switch, first position switch walks with the picking in the picking walking mechanism
Motor is electrically connected, and the first position switch controls the picking movable motor out of service after being triggered；
In the step S40, when the picking walking mechanism runs to the second position, in the picking walking mechanism
Picking switch collision block triggering second position switch, second position switch walks with the picking in the picking walking mechanism
Motor is electrically connected, and the second position switch controls the picking movable motor out of service after being triggered；
And/or；
Step is further included after the step S30：
S60：The compression walking mechanism is driven to be moved to the third place on the column, when the compression walking mechanism is located at
During the third place, the cargo is pressed in the picking walking mechanism by the compression pawl compressed in walking mechanism.
10. automatic picking method as described in claim 9, it is characterised in that：
In the step S60, when the compression walking mechanism is moved to the third place, in the compression walking mechanism
Clamping switch collision block triggering the third place switch, the third place switch walks with the compression in the compression walking mechanism
Motor is electrically connected, and the third place switch controls the compression movable motor out of service after being triggered.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810107106.XA CN108171882B (en) | 2018-02-02 | 2018-02-02 | Automatic goods taking device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810107106.XA CN108171882B (en) | 2018-02-02 | 2018-02-02 | Automatic goods taking device and method |
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| CN108171882A true CN108171882A (en) | 2018-06-15 |
| CN108171882B CN108171882B (en) | 2024-03-19 |
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| CN201810107106.XA Active CN108171882B (en) | 2018-02-02 | 2018-02-02 | Automatic goods taking device and method |
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| Publication number | Publication date |
|---|---|
| CN108171882B (en) | 2024-03-19 |
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