CN108171882B - Automatic goods taking device and method - Google Patents
Automatic goods taking device and method Download PDFInfo
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- CN108171882B CN108171882B CN201810107106.XA CN201810107106A CN108171882B CN 108171882 B CN108171882 B CN 108171882B CN 201810107106 A CN201810107106 A CN 201810107106A CN 108171882 B CN108171882 B CN 108171882B
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 171
- 230000009471 action Effects 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 210000000078 claw Anatomy 0.000 claims description 61
- 238000005056 compaction Methods 0.000 claims description 38
- 230000001360 synchronised effect Effects 0.000 claims description 23
- 230000001960 triggered effect Effects 0.000 claims description 14
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 230000003014 reinforcing effect Effects 0.000 claims description 6
- 230000006835 compression Effects 0.000 claims 10
- 238000007906 compression Methods 0.000 claims 10
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 235000013162 Cocos nucifera Nutrition 0.000 description 76
- 244000060011 Cocos nucifera Species 0.000 description 76
- 230000008569 process Effects 0.000 description 9
- 230000006978 adaptation Effects 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000021022 fresh fruits Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011435 rock Substances 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
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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
- G07F11/46—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 an automatic goods taking device and a method, wherein the automatic goods taking device comprises: the device comprises a stand column and a goods taking travelling mechanism, wherein a rack is arranged on the stand column, a first end of the stand column is connected with a driving rotating shaft, a second end of the stand column is connected with a driven shaft, the driving rotating shaft is connected with an output shaft of a rotary driving motor through a transmission chain, and the driving rotating shaft drives the stand column to rotate under the action of the rotary driving motor; the goods taking running mechanism comprises a goods taking running frame, a goods taking tray, a goods taking running gear and a goods taking running motor, wherein the goods taking running frame is arranged on the stand column in a sliding mode, the goods taking running gear is rotatably arranged on the goods taking running frame, the goods taking running gear is connected with an output shaft of the goods taking running motor, the goods taking running gear is meshed with a rack on the stand column, and under the action of the goods taking running motor, the goods taking running gear drives the goods taking running frame to move along the rack. The automatic goods taking device has the advantages of simple and compact structure, less steps of the goods taking method, easy operation, high speed for obtaining goods, high efficiency and low energy consumption.
Description
Technical Field
The invention relates to the technical field of structural improvement of vending machines, in particular to an automatic goods taking device and method.
Background
In recent years, with the rapid development of robot technology, intelligent mobile robots have played an increasingly important role in human life, and have been widely used in various industries, wherein the development of vending machines is rapid, but in the field of automatic processing and vending of fresh fruits, coconut vending machines are novel products in the market, and the structure of the coconut vending machines is not perfect enough. The coconut picking structure and the coconut shell opening structure of the coconut vending machine are very critical, in the existing vending machine, the coconuts are generally distributed in a mode of being arranged in multiple layers up and down and multiple rows left and right, a picking travelling mechanism needs to move up and down and left and right to a certain position to acquire coconuts in a fixed layer and a fixed row, then the coconuts are conveyed to a coconut opening mechanism for opening the coconuts, the existing picking travelling mechanism needs a long time to acquire one coconut, the coconut acquisition efficiency is very low, and the energy consumption is high.
Accordingly, the present application is directed to a novel automated pick device and method.
Disclosure of Invention
The invention aims to provide an automatic goods taking device and method, wherein the automatic goods taking device is simple and compact in structure, few in steps of a goods taking method, easy to operate, high in goods taking speed, high in efficiency and low in energy consumption.
The technical scheme provided by the invention is as follows:
an automated pick device comprising: the device comprises a stand column, wherein a rack is arranged on the stand column, a first end of the stand column is connected with a driving rotating shaft, a second end of the stand column is connected with a driven shaft, the driving rotating shaft is connected with an output shaft of a rotary driving motor through a transmission chain, and the driving rotating shaft drives the stand column to rotate under the action of the rotary driving motor; get goods running gear, get goods running gear and get goods running motor including getting goods running gear, get goods running gear and get goods running motor, it sets up to get goods running gear slip on the stand, it is equipped with a goods tray to get goods running gear on the goods running gear, get goods running gear rotationally set up get goods running gear is last, get goods running gear with get output shaft of goods running motor, get goods running gear with rack engagement on the stand get under the effect of goods running motor, get goods running gear drive get goods running gear is followed the rack removes.
According to the automatic picking device, the rotary driving motor rotates the upright post to enable the picking travelling mechanism on the upright post to face the first direction and the second direction, the picking travelling motor drives the picking travelling gear to move along the rack on the upright post, and the picking travelling gear drives the picking travelling frame to move along the upright post, so that the picking tray is driven to move, the picking travelling mechanism can pick the picked coconut at the first position in the first direction and can pick the coconut at the second position in the second direction.
Preferably, a guide rail is respectively arranged at two sides of the upright post, the guide rail is positioned at two sides of the rack, and the goods taking walking frame is connected to the guide rail in a sliding manner through a pair of sliding blocks.
The goods taking travelling mechanism can stably run along the upright post through the matching of the sliding block and the guide rail, so that the goods taking travelling mechanism can stably convey goods.
Preferably, the upright post is further provided with a first position switch and a second position switch which are electrically connected with the goods taking and walking motor, the goods taking and walking frame is provided with a goods taking switch collision block for triggering the first position switch and the second position switch, and when the goods taking and walking mechanism walks on the upright post to the corresponding collision block position, the walking motor stops running. When the goods taking travelling mechanism runs to a preset target position, corresponding position switches are triggered at the same time, and the goods taking travelling motor is controlled to stop running through the position switches, so that the goods taking travelling mechanism can be effectively limited, the situation that the motor drives the goods taking travelling mechanism to exceed the target position is avoided, and the goods taking travelling mechanism is further kept in a fixed state at the target position.
Preferably, the automatic pickup device further comprises: the compressing and traveling mechanism comprises a compressing and traveling frame, a compressing and traveling gear, a compressing and traveling motor and a compressing claw, wherein the compressing and traveling gear is rotatably arranged on the compressing and traveling frame, the compressing and traveling gear is connected with an output shaft of the compressing and traveling motor, the compressing and traveling gear is meshed with a rack on the upright column, the compressing claw is arranged on the compressing and traveling frame, a claw opening of the compressing claw faces to the goods taking and traveling mechanism, and the compressing and traveling gear drives the compressing and traveling frame to move along the rack until the compressing claw presses goods on the goods taking and traveling mechanism under the action of the compressing and traveling motor.
According to the automatic goods taking device, goods are firstly obtained through the goods taking travelling mechanism, and then the goods are obtained and pressed on the goods taking travelling mechanism through the pressing travelling mechanism, so that the goods taking travelling mechanism can stably move the goods to a target position, for a coconut vending machine, coconuts are fixed through the pressing travelling mechanism, and the coconut opening mechanism can stably and accurately open coconut shells, so that coconut opening failure caused by rotation of coconuts in a coconut opening process is avoided.
Preferably, a connecting column is arranged on the pressing claw, a mounting hole for mounting the connecting column is arranged on the pressing walking frame, a sliding groove is arranged on the hole wall of the mounting hole, a sliding rod is arranged on the connecting column, the sliding rod is inserted into the sliding groove, the sliding rod slides along the axial direction of the connecting column through the sliding groove, an elastic piece is arranged in the mounting groove, and when the pressing claw is subjected to external pressure, the connecting column compresses the elastic piece.
Through setting up the elastic component between compressing tightly claw and compressing tightly the walking frame, make compressing tightly claw can be applicable to the goods of not co-altitude, guaranteed compressing tightly claw can effectively compress tightly fixedly the goods.
Preferably, the pressing claw comprises a plurality of pressing strips, the pressing strips are arranged around a central shaft, the pressing strips comprise a first section and a second section, the distance between the first section of the pressing strips and the central shaft gradually increases along the direction from the claw bottom to the claw opening, and the second section of the pressing strips is parallel to the central shaft.
Preferably, the holding-down claw further comprises a reinforcing ring, the reinforcing ring being disposed around the plurality of the bead strips.
When the automatic goods taking device is applied to a coconut vending machine, a gap can be formed on the pressing claw through the pressing bar with the short length, so that the coconut shell opening mechanism can conveniently open the coconut shells through the gap.
Preferably, a guide rail is respectively arranged at two sides of the upright post, the guide rail is positioned at two sides of the rack, and the compaction walking frame is connected to the guide rail in a sliding manner through a pair of sliding blocks.
Preferably, the upright post is further provided with a third position switch and a fourth position switch which are electrically connected with the compaction traveling motor, the compaction traveling frame is provided with a compaction switch collision block for triggering the third position switch and the fourth position switch, and when the compaction traveling mechanism walks to a corresponding position on the upright post, the compaction traveling motor stops running.
When the compaction travelling mechanism runs to a preset target position, corresponding position switches are triggered at the same time, and the compaction travelling motor is controlled to stop running through the position switches, so that the compaction travelling mechanism can be effectively limited, the motor is prevented from driving the compaction travelling mechanism to exceed the target position, and the compaction travelling mechanism is further kept in a fixed state at the target position.
An automatic picking method, comprising the steps of:
s10: rotating the upright post to enable the goods taking travelling mechanism on the upright post to face to the first direction;
s20: driving the goods taking travelling mechanism to move to a first position on the upright post;
s30: placing goods on the goods taking travelling mechanism;
s40: driving the goods taking travelling mechanism to move to a second position on the upright post;
s50: and rotating the upright post to enable the goods taking travelling mechanism filled with goods to face to the second direction.
The automatic goods taking method has the advantages of few steps, simple operation and high goods taking efficiency.
Preferably, in the step S20, when the pickup travelling mechanism walks to the first position, a pickup switch touch block in the pickup travelling mechanism triggers a first position switch, the first position switch is electrically connected with a pickup travelling motor in the pickup travelling mechanism, and the first position switch is triggered to control the pickup travelling motor to stop running; in step S40, when the pickup travelling mechanism travels to the second position, the pickup switch collision block in the pickup travelling mechanism triggers a second position switch, the second position switch is electrically connected with the pickup travelling motor in the pickup travelling mechanism, and the second position switch is triggered to control the pickup travelling motor to stop operating.
The control system can be simplified by arranging the position switch, when the goods taking travelling mechanism walks to the target position, the goods taking travelling mechanism triggers the corresponding position switch, and the running of the travelling motor is controlled by the corresponding position switch.
Preferably, the automatic picking method further includes step S60 after the step S30: and driving the compressing travelling mechanism to move to a third position on the upright post, and compressing the goods on the goods taking travelling mechanism by a compressing claw in the compressing travelling mechanism when the compressing travelling mechanism is positioned at the third position.
Can make getting goods running gear when carrying the goods through compressing tightly running gear, can make the goods effectively fix on getting goods running gear, avoid the goods to drop from getting goods running gear, when the goods is the coconut, compress tightly the coconut through compressing tightly running gear and can make the process of opening the coconut more smooth, avoid the coconut to rock and cause opening the coconut failure in opening the coconut in-process.
Preferably, in step S60, when the pressing travelling mechanism moves to the third position, a pressing switch touching block in the pressing travelling mechanism triggers a third position switch, the third position switch is electrically connected with a pressing travelling motor in the pressing travelling mechanism, and the third position switch is triggered to control the pressing travelling motor to stop running.
The control system can be simplified by arranging the position switch, when the compaction travelling mechanism walks to the target position, the compaction travelling mechanism triggers the corresponding position switch, and the running of the travelling motor is controlled by the corresponding position switch.
The automatic goods taking device and the method provided by the invention can bring at least one of the following beneficial effects:
1. according to the automatic picking device, the stand column is rotated through the rotary driving motor, the picking travelling mechanism on the stand column faces to the first direction or the second direction, the picking travelling gear is driven by the picking travelling motor to move along the rack on the stand column, the picking travelling gear drives the picking travelling frame to move to the first position or the second position along the stand column, when the picking travelling mechanism is at the first position in the first direction, cargoes are placed on the picking travelling mechanism, and when the picking travelling mechanism is at the second position in the second direction, coconuts on the picking travelling mechanism are opened.
2. According to the automatic picking device, the picking travelling mechanism is used for picking cargoes, and then the picking travelling mechanism is used for pressing the picked cargoes on the picking travelling mechanism, so that the picking travelling mechanism can stably move cargoes to a target position, for a coconut vending machine, coconuts are fixed through the pressing travelling mechanism, and the coconut opening mechanism can be used for opening coconut shells more stably and accurately, so that coconut opening failure caused by rotation of coconuts in a coconut opening process is avoided.
3. The invention can simplify the control system by arranging the position switch, when the travelling mechanism walks to the target position, the travelling mechanism triggers the corresponding position switch and controls the running of the travelling motor through the corresponding position switch, and the control mode has high accuracy and high efficiency.
4. The automatic goods taking method has the advantages of simple steps, easy operation, high goods taking efficiency and simple control system.
Drawings
The above features, technical features, advantages and implementation of the present invention will be further described in the following description of preferred embodiments with reference to the accompanying drawings in a clear and easily understood manner.
FIG. 1 is a schematic view of an embodiment of an automated pick device of the present invention;
FIG. 2 is an exploded view of the column and structure disposed thereon of the automated picking apparatus shown in FIG. 1;
FIG. 3 is an exploded schematic view of the pick-and-walk mechanism in the automated pick device shown in FIG. 1;
FIG. 4 is an exploded view of the compacting travel mechanism of the automated picking apparatus shown in FIG. 1;
FIG. 5a is a top plan view of the pick-up travel mechanism of the automated pick-up device shown in FIG. 1 as it picks up a load;
fig. 5b is a top plan view of the pick-up travelling mechanism of the automated pick-up device shown in fig. 1 as it processes goods.
Reference numerals illustrate:
upright 101, rack 102, guide rail 103, slider 1031, driven shaft 104, bearing base 105, driving shaft 106, bearing housing 107, fixed mounting rack 108, large synchronous pulley 109, small synchronous pulley 1010, synchronous belt 1020, rotary drive motor 1030, rotary drive motor support 1040, limit frame 1050, switch support 1060, first position switch 1061, second position switch 1062, third position switch 1063, fourth position switch 1064;
a goods taking walking mechanism 20, a goods taking walking frame 201, a goods taking walking motor 202, a goods taking walking motor bracket 2021, a goods taking walking gear 203, a goods taking switch collision block 204, a goods taking tray 205 and a coconut king 2051;
the device comprises a pressing traveling mechanism 30, a sliding block frame 301, a pressing traveling motor 302, a pressing traveling motor bracket 3021, a pressing traveling gear 303, a pressing switch bump 304, a pressing traveling frame 305, a spring 306, a pressing claw 307 and a sliding rod 308.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will explain the specific embodiments of the present invention with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the invention, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort. For simplicity of the drawing, only the parts relevant to the present invention are schematically shown in each drawing, and they do not represent the actual structure thereof as a product.
Detailed description of the preferred embodiments
As shown in fig. 1 to 4, this embodiment discloses an automatic pickup device, which includes a column 101 and a pickup walking mechanism 20. The rack 102 is arranged on the upright 101, a first end of the upright 101 (i.e. the upper end of the upright 101 shown in fig. 2) is connected with the driving rotary shaft 106, a second end of the upright 101 (i.e. the lower end of the upright 101 shown in fig. 2) is connected with the driven shaft 104, the driving rotary shaft 106 is connected with the output shaft of the rotary driving motor 1030 through a transmission chain, and the driving rotary shaft 106 drives the upright 101 to rotate under the action of the rotary driving motor 1030. As shown in fig. 3, the pickup walking mechanism 20 includes a pickup walking frame 201, a pickup walking gear 203 and a pickup walking motor 202, the pickup walking frame 201 is slidably disposed on the upright post 101, the pickup walking frame 201 is further provided with a pickup tray 205, the pickup walking gear 203 is rotatably disposed on the pickup walking frame 201, the pickup walking motor 202 is disposed on a pickup walking motor support 2021, the pickup walking gear 203 is connected to an output shaft of the pickup walking motor 202, the pickup walking gear 203 is meshed with the rack 102 on the upright post 101, and under the action of the pickup walking motor 202, the pickup walking gear 203 drives the pickup walking frame 201 to move along the rack 102.
Specifically, referring to fig. 1 and 2, the driving shaft 106 is fixedly disposed at a first end of the upright 101 (i.e., a top end of the upright 101 shown in fig. 2), the driving shaft 106 is disposed on the bearing sleeve 107 in a penetrating manner, the bearing sleeve 107 is fixedly disposed on the fixing mount 108, the fixing mount 108 is fixedly mounted on a top of an external application device (e.g., a vending machine) thereof, the driven shaft 104 is fixedly disposed at a second end of the upright 101 (i.e., a bottom end of the upright 101 shown in fig. 2), the driven shaft 104 is disposed on the bearing base 105 in a penetrating manner, and the bearing base 105 is fixedly mounted on a bottom of the external application device (e.g., the vending machine) thereof.
In the embodiment of the present invention, referring to fig. 1 and 2, a large synchronous pulley 109 is disposed on a driving shaft 106 in a penetrating manner, a small synchronous pulley 1010 is disposed on an output shaft of a rotary driving motor 1030 in a penetrating manner and is rotatably disposed on a fixed mounting frame 108 through a rotary driving motor support 1040, the large synchronous pulley 109 and the small synchronous pulley 1010 transmit power through a synchronous belt 1020, the small synchronous pulley 1010 is driven to rotate by the rotary driving motor 1030, the small synchronous pulley 1010 drives the large synchronous pulley 109 to rotate through the synchronous belt 1020, and the large synchronous pulley 109 drives the upright 101 to rotate through the driving shaft 106, so that a pickup travelling mechanism 20 disposed on the upright 101 rotates accordingly.
Specifically, referring to fig. 1 and 2, racks 102 are fixedly mounted on the front surface of the upright 101, a pair of guide rails 103 are symmetrically and fixedly arranged on two side surfaces of the upright 101, two ends of the upright 101 are respectively provided with a pair of limiting frames 1050, the limiting frames 1050 are located at the end parts of the guide rails 103, and a goods taking travelling mechanism can be prevented from slipping from the upright 101 by arranging the limiting frames 1050. The pickup carriage 201 is slidably connected to the guide rail 103 by a pair of sliders 1031 shown below in fig. 2. The goods taking travelling mechanism can stably run along the upright post through the matching of the sliding block and the guide rail, so that the goods taking travelling mechanism can stably convey goods.
Specifically, the upright post 101 is further provided with a first position switch 1061 and a second position switch 1062 electrically connected to the pickup walking motor 202, the first position switch 1061 and the second position switch 1062 are respectively fixed on the back surface of the upright post 101 through a switch bracket 1060, the pickup walking frame 201 is provided with a pickup switch collision block 204 for triggering the first position switch 1061 and the second position switch 1062, when the pickup walking mechanism 20 walks to the first position on the upright post 101, the pickup switch collision block 204 triggers the first position switch 1061, the first position switch 1061 controls the pickup walking motor 202 to stop running, and when the pickup walking mechanism 20 walks to the second position on the upright post 101, the pickup switch collision block 204 triggers the second position switch 1062, and the second position switch 1062 controls the pickup walking motor 202 to stop running.
When the goods taking travelling mechanism runs to a preset target position, corresponding position switches are triggered at the same time, and the goods taking travelling motor is controlled to stop running through the position switches, so that the goods taking travelling mechanism can be effectively limited, the situation that the motor drives the goods taking travelling mechanism to exceed the target position is avoided, and the goods taking travelling mechanism is further kept in a fixed state at the target position.
Specifically, as shown in fig. 1 and 4, the automatic cargo taking device in this embodiment further includes a pressing traveling mechanism 30, where the pressing traveling mechanism 30 includes a pressing traveling motor 302, a pressing traveling gear 303, a pressing traveling frame 305, and a pressing claw 307, where the pressing traveling gear 303 is rotatably disposed on the pressing traveling frame 305, the pressing traveling gear 303 is connected to an output shaft of the pressing traveling motor 302, the pressing traveling gear 303 is meshed with the rack 102 on the upright 101, the pressing traveling frame 305 is slidably disposed on the upright 101 and located above the cargo taking traveling frame 201, the pressing claw 307 is disposed on the pressing traveling frame 305, a claw opening of the pressing claw 307 faces the cargo taking traveling mechanism 20, and under the action of the pressing traveling motor 302, the pressing traveling gear 303 drives the pressing traveling frame 305 to move along the rack until the pressing claw 307 presses the cargo on the cargo taking traveling mechanism 20.
According to the automatic goods taking device, goods are firstly obtained through the goods taking travelling mechanism, and then the obtained goods are pressed on the goods taking travelling mechanism through the pressing travelling mechanism, so that the goods taking travelling mechanism can stably move the goods to a target position, when the automatic goods taking device in the embodiment is applied to a coconut vending machine, coconuts are fixed through the pressing travelling mechanism, and the coconut opening mechanism can be used for opening coconut shells more stably and accurately, so that coconut opening failure caused by rotation of coconuts in the coconut opening process is avoided.
Specifically, a connecting column is disposed on the pressing claw 307, a mounting hole for mounting the connecting column is disposed on the pressing walking frame 305, a chute is disposed on a hole wall of the mounting hole, specifically, as shown in fig. 4, the chute is of a slotted hole structure, a sliding rod 308 is disposed on the connecting column, the sliding rod 308 is inserted into the chute, and the sliding rod 308 slides along an axial direction of the connecting column through the chute, a spring 306 is disposed in the mounting hole, and when the pressing claw 307 is subjected to external pressure (such as coconut on the pressing and picking walking mechanism, coconut will give the pressing claw an upward external force), the connecting column compresses the spring 306. The compressing claw is connected with the compressing walking frame through a spring, so that the compressing claw can compress and fix coconuts with different heights.
Specifically, as shown in fig. 4, the pressing claw 307 includes a plurality of pressing strips, the plurality of pressing strips are arranged around a central axis, the pressing strips include a first section and a second section, the first section of the pressing strip is bent with respect to the second section thereof, and a distance between the first section of the pressing strip and the central axis is gradually increased along a direction from a claw bottom (an upper portion of the pressing claw 307 shown in fig. 4) to a claw opening (a lower portion of the pressing claw 307 shown in fig. 4), and the second section of the pressing strip is arranged in parallel with the central axis. Specifically, the pressing claw 307 further includes a reinforcing ring disposed around the plurality of pressing bars, and the reinforcing ring is located at the junction of the first section and the second section of the pressing bars. Specifically, among the plurality of pressing claws 307, the plurality of first pressing claws have the same length of the second section of the plurality of first pressing claws and smaller than the lengths of the second sections of the other pressing claws adjacent thereto, and thus, when the pressing claws are arranged, a notch can be formed at the side of the claw opening of the pressing claw. When the automatic picking apparatus of the present embodiment is applied to a coconut vending machine, the opening formed at the side of the pressing claw 307 by the first pressing bar with a shorter length can facilitate the coconut opening mechanism to extend into the pressing claw from one side of the pressing claw through the opening to open the coconut shell.
Specifically, as shown in fig. 4, a slide block frame 301 is fixedly provided on the pressing traveling frame 305, the slide block frame 301 is fixedly connected to a pair of slide blocks 1031 above as shown in fig. 2, and the pressing traveling frame 305 is slidably connected to the guide rail 103 through the pair of slide blocks 1031.
In this embodiment, as shown in fig. 2 and 4, the upright post 101 is further provided with a third position switch 1063 and a fourth position switch 1064 electrically connected to the pressing walking motor 302, the third position switch 1063 and the fourth position switch 1064 are respectively fixed on the back surface of the upright post 101 through a switch bracket 1060, the pressing walking frame 305 is provided with a pressing switch bump 304 for triggering the third position switch 1063 and the fourth position switch 1064, when the pressing walking mechanism 30 walks to the third position on the upright post 101, the pressing switch bump 304 triggers the third position switch 1063, and the third position switch 1063 controls the pressing walking motor 302 to stop running, so that the pressing walking mechanism 30 is fixed at the third position. When the pressing traveling mechanism 30 travels on the column 101 to the third position, the pressing claws 307 of the pressing traveling mechanism 30 press the load (for example, the coconut king 2051) against the pallet 205 of the pickup traveling frame 201. When the pressing traveling mechanism 30 travels on the upright 101 to the fourth position, the pressing switch bump 304 triggers the fourth position switch 1064, and the fourth position switch 1064 controls the pressing traveling motor 302 to stop operating, thereby fixing the pressing traveling mechanism 30 at the fourth position.
When the compaction travelling mechanism runs to a preset target position, corresponding position switches are triggered at the same time, and the compaction travelling motor is controlled to stop running through the position switches, so that the compaction travelling mechanism can be effectively limited, the motor is prevented from driving the compaction travelling mechanism to exceed the target position, and the compaction travelling mechanism is further kept in a fixed state at the target position.
The automatic goods taking device in the specific embodiment is compact in structure, small in occupied space, stable in operation, high in goods taking efficiency and low in energy consumption.
The automatic picking device disclosed in this embodiment is suitable for a vending machine, particularly for a fresh coconut vending machine, and in connection with fig. 1 to 5, the specific implementation steps of the automatic picking device in this embodiment when picking coconuts are as follows:
the rotation driving motor 1030 drives the upright post 101 to rotate to a first direction, the pickup walking motor 202 drives the pickup walking frame 201 to slide on the guide rail to a first position, the pickup switch bump 204 on the pickup walking frame 201 triggers the first position switch 1061, the first position switch 1061 controls to turn off the pickup walking motor 202, as shown in fig. 5a, the pickup walking frame 201 is fixed at the first position in the first direction, and at this time, coconuts are pushed onto the pickup pallet 205 in the pickup walking frame 201;
the pickup walking motor 202 drives the pickup walking frame 201 to slide to a second position on the guide rail 103, the pickup switch collision block 204 on the pickup walking frame 201 triggers the second position switch 1062, and the second position switch 1062 controls to turn off the pickup walking motor 202, at this time, the pickup walking frame 201 is fixed at the second position in the first direction;
the compaction travel motor 302 drives the compaction travel frame 305 to slide to a third position on the guide rail, the compaction switch bump block 304 on the compaction travel frame 305 triggers the third position switch 1063, the third position switch 1063 controls to close the compaction travel motor 302, the compaction travel frame 305 is fixed at the third position in the first direction, and the compaction claw 307 on the compaction travel frame 305 fixes coconuts on the picking pallet in the picking travel frame 201;
the rotary driving motor 1030 drives the upright post 101 to rotate to a second direction, as shown in fig. 5b, the picking travelling mechanism 20 and the compacting travelling mechanism 30 filled with coconuts are positioned at a second position in the second direction, and the coconuts are opened from the side gaps of the compacting claws 307 by the coconut opening mechanism;
after the shell is opened, the compaction traveling motor 302 drives the compaction traveling frame 305 to slide to a fourth position on the guide rail, the compaction switch bump 304 on the compaction traveling frame 305 triggers the fourth position switch 1064, and the fourth position switch 1064 controls to close the compaction traveling motor 302, so that the compaction traveling frame 305 is fixed at the fourth position in the second direction, and coconut after the coconut shell is opened is released, so that a customer can take out the coconut conveniently.
Of course, in other specific embodiments of the automatic goods taking device of the invention, the specific structure of the pressing travelling mechanism can be adjusted according to the shape characteristics of goods, and can also be selectively arranged; the four position switches are not arranged, and the running and stopping of the running motor can be controlled by the total controller; the connection mode of the walking frame and the upright post and the mode of driving the upright post by the rotary driving motor can be adjusted according to actual needs.
Second embodiment
The embodiment discloses a preferred embodiment of an automatic picking method, taking an example that the automatic picking method is applied to an automatic picking process of an automatic vending machine, the automatic picking method in the embodiment comprises the following steps:
s10: rotating the upright post to enable the goods taking travelling mechanism positioned on the upright post to face to the first direction;
s20: the goods taking travelling mechanism is driven to move to a first position on the upright post, when the goods taking travelling mechanism walks to the first position, a goods taking switch collision block in the goods taking travelling mechanism triggers a first position switch, the first position switch is electrically connected with a goods taking travelling motor in the goods taking travelling mechanism, and the first position switch is triggered to control the goods taking travelling motor to stop running;
s30: pushing coconuts to a goods taking travelling mechanism;
s40: the goods taking travelling mechanism is driven to move to a second position on the upright post, when the goods taking travelling mechanism walks to the second position, a goods taking switch collision block in the goods taking travelling mechanism triggers a second position switch, the second position switch is electrically connected with a goods taking travelling motor in the goods taking travelling mechanism, and the second position switch is triggered to control the goods taking travelling motor to stop running;
s50: the pressing travelling mechanism is driven to move to a third position on the upright post, when the pressing travelling mechanism is located at the third position, a pressing claw in the pressing travelling mechanism presses goods on the goods taking travelling mechanism, when the pressing travelling mechanism moves to the third position, a pressing switch collision block in the pressing travelling mechanism triggers a third position switch, the third position switch is electrically connected with a pressing travelling motor in the pressing travelling mechanism, and the third position switch is controlled to stop running after being triggered;
s60: and rotating the upright post to enable the goods taking travelling mechanism filled with goods to face to the second direction.
After the step S60, the goods taking travelling mechanism is located at a second position in a second direction, the pressing travelling mechanism is located at a third position in the second direction, the pressing claw in the pressing travelling mechanism presses coconuts on the goods taking travelling mechanism, coconut opening processing is carried out on the coconuts on the goods taking travelling mechanism, after the processing is finished, the pressing travelling mechanism is driven to move to a fourth position on the upright post, when the pressing travelling mechanism is located at the fourth position, the pressing claw in the pressing travelling mechanism is far away from the coconuts on the goods taking travelling mechanism, when the pressing travelling mechanism moves to the fourth position, the pressing switch touch block in the pressing travelling mechanism triggers a fourth position switch, the fourth position switch is electrically connected with the pressing travelling motor in the pressing travelling mechanism, and after the fourth position switch is triggered, the pressing travelling motor is controlled to stop running, and then the coconuts after opening can be conveyed to the goods taking opening.
The automatic goods taking method has the advantages of few steps, simple operation and high goods taking efficiency, the control system can be simplified by arranging the position switch in the step S20 and the step S40, when the goods taking travelling mechanism or the pressing travelling mechanism walks to the target position, the travelling mechanism triggers the corresponding position switch, and the running of the travelling motor is controlled by the corresponding position switch. In step S50, the goods taking travelling mechanism can be enabled to be effectively fixed on the goods taking travelling mechanism when the goods are conveyed through the pressing travelling mechanism, the goods are prevented from falling off from the goods taking travelling mechanism, when the goods are coconuts, the coconuts are pressed through the pressing travelling mechanism, the coconut opening process can be smooth, and the coconut opening failure caused by shaking of the coconuts in the coconut opening process is avoided.
Of course, in other embodiments of the automatic picking method of the present invention, the step S50 may be selectively set; the running motor may be controlled not by the position switch but by the overall controller in steps S20, 40, 50.
It should be noted that, in the above embodiment, the automatic picking device and method are described with the cargos being coconuts, but the automatic picking device and method of the present invention can be applied to other picking processes of cargos.
In addition, it should be noted that the above embodiments can be freely combined as needed. The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (4)
1. An automatic pick device, comprising: the device comprises a stand column, wherein a rack is arranged on the stand column, a first end of the stand column is connected with a driving rotating shaft, a second end of the stand column is connected with a driven shaft, the driving rotating shaft is connected with an output shaft of a rotary driving motor through a transmission chain, and the driving rotating shaft drives the stand column to rotate under the action of the rotary driving motor; the goods taking walking mechanism comprises a goods taking walking frame, a goods taking walking gear and a goods taking walking motor, wherein a goods taking tray is arranged on the goods taking walking frame, the goods taking walking frame is arranged on the upright post in a sliding mode, the goods taking walking gear is rotatably arranged on the goods taking walking frame, the goods taking walking gear is connected with an output shaft of the goods taking walking motor, the goods taking walking gear is meshed with a rack on the upright post, and under the action of the goods taking walking motor, the goods taking walking gear drives the goods taking walking frame to move along the rack; the large synchronous belt pulley is arranged on the driving rotating shaft in a penetrating way, the small synchronous belt pulley is arranged on the output shaft of the rotary driving motor in a penetrating way and is rotatably arranged on the fixed mounting frame through the rotary driving motor bracket, the large synchronous belt pulley and the small synchronous belt pulley transmit power through the synchronous belt, the small synchronous belt pulley is driven to rotate through the rotary driving motor, the small synchronous belt pulley drives the large synchronous belt pulley to rotate through the synchronous belt, the large synchronous belt pulley drives the stand column to rotate through the driving rotating shaft, and then the goods taking travelling mechanism arranged on the stand column rotates along with the rotation;
the two sides of the upright post are respectively provided with a guide rail, the guide rails are positioned at the two sides of the rack, and the goods taking walking frame is connected to the guide rails in a sliding way through a pair of sliding blocks; and/or; the upright post is also provided with a first position switch and a second position switch which are electrically connected with the goods taking walking motor, the goods taking walking frame is provided with a goods taking switch collision block for triggering the first position switch and the second position switch, and when the goods taking walking mechanism walks on the upright post to the corresponding collision block position, the walking motor stops running;
the compressing and traveling mechanism comprises a compressing and traveling frame, a compressing and traveling gear, a compressing and traveling motor and a compressing claw, wherein the compressing and traveling gear is rotatably arranged on the compressing and traveling frame, the compressing and traveling gear is connected with an output shaft of the compressing and traveling motor, the compressing and traveling gear is meshed with a rack on the upright post, the compressing claw is arranged on the compressing and traveling frame, a claw opening of the compressing claw faces to the goods taking and traveling mechanism, and under the action of the compressing and traveling motor, the compressing and traveling gear drives the compressing and traveling frame to move along the rack until the compressing claw presses goods on the goods taking and traveling mechanism; the compression claw is provided with a connecting column, the compression walking frame is provided with a mounting hole for mounting the connecting column, the wall of the mounting hole is provided with a sliding groove, the connecting column is provided with a sliding rod, the sliding rod is inserted into the sliding groove and slides along the axial direction of the connecting column through the sliding groove, the mounting groove is provided with an elastic piece, and when the compression claw is subjected to external pressure, the connecting column compresses the elastic piece; the compression claw comprises a plurality of compression strips, the compression strips are arranged around a central shaft, the compression strips comprise a first section and a second section, the distance between the first section of the compression strip and the central shaft is gradually increased along the direction from the claw bottom to the claw opening, and the second section of the compression strip is arranged in parallel with the central shaft; the compression claw further comprises a reinforcing ring, and the reinforcing ring is arranged around the plurality of pressing strips; the two sides of the upright post are respectively provided with a guide rail, the guide rails are positioned at the two sides of the rack, and the compaction walking frame is connected to the guide rails in a sliding manner through a pair of sliding blocks; and/or; the stand column is also provided with a third position switch and a fourth position switch which are electrically connected with the compaction travel motor, the compaction travel frame is provided with a compaction switch collision block for triggering the third position switch and the fourth position switch, and when the compaction travel mechanism travels to a corresponding position on the stand column, the compaction travel motor stops running.
2. A method of picking up a cargo automatic picking up device according to claim 1 comprising the steps of:
s10: rotating the upright post to enable the goods taking travelling mechanism on the upright post to face to the first direction;
s20: driving the goods taking travelling mechanism to move to a first position on the upright post;
s30: placing goods on the goods taking travelling mechanism;
s40: driving the goods taking travelling mechanism to move to a second position on the upright post;
s50: and rotating the upright post to enable the goods taking travelling mechanism filled with goods to face to the second direction.
3. An automated pick method as set forth in claim 2, wherein:
in the step S20, when the pickup travelling mechanism travels to the first position, a pickup switch touch block in the pickup travelling mechanism triggers a first position switch, the first position switch is electrically connected with a pickup travelling motor in the pickup travelling mechanism, and the first position switch is triggered to control the pickup travelling motor to stop running;
in the step S40, when the pickup travelling mechanism travels to the second position, a pickup switch touch block in the pickup travelling mechanism triggers a second position switch, the second position switch is electrically connected with a pickup travelling motor in the pickup travelling mechanism, and the second position switch is triggered to control the pickup travelling motor to stop running; and/or;
the step S30 further includes the steps of: s60: and driving the compressing travelling mechanism to move to a third position on the upright post, and compressing the goods on the goods taking travelling mechanism by a compressing claw in the compressing travelling mechanism when the compressing travelling mechanism is positioned at the third position.
4. An automated picking method as defined by claim 3 wherein:
in step S60, when the pressing travelling mechanism moves to the third position, the pressing switch bump in the pressing travelling mechanism triggers a third position switch, the third position switch is electrically connected with the pressing travelling motor in the pressing travelling mechanism, and the third position switch is triggered to control the pressing travelling motor to stop running.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810107106.XA CN108171882B (en) | 2018-02-02 | 2018-02-02 | Automatic goods taking device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810107106.XA CN108171882B (en) | 2018-02-02 | 2018-02-02 | Automatic goods taking device and method |
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| CN108171882B true CN108171882B (en) | 2024-03-19 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108806083A (en) * | 2018-09-03 | 2018-11-13 | 北京卓因达科技有限公司 | The manipulator platform of vending machine |
| CN111063106A (en) * | 2019-12-30 | 2020-04-24 | 道美科技(上海)股份有限公司 | Control method and system of coconut vending machine |
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