CN108305386A - Self-help vending machine outloading mechanism - Google Patents
Self-help vending machine outloading mechanism Download PDFInfo
- Publication number
- CN108305386A CN108305386A CN201810091941.9A CN201810091941A CN108305386A CN 108305386 A CN108305386 A CN 108305386A CN 201810091941 A CN201810091941 A CN 201810091941A CN 108305386 A CN108305386 A CN 108305386A
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- China
- Prior art keywords
- axis
- motor
- swing arm
- fixed
- pallet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
- G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
- G07F11/16—Delivery means
- G07F11/165—Delivery means using xyz-picker or multi-dimensional article picking arrangements
Abstract
The invention discloses a kind of Self-help vending machine outloading mechanisms, including：Driving unit, picking unit and shipment unit, the driving unit include：Babinet；Upper slide track component, downslide rail assembly and a pair of of X-axis slide block, synchronous belt in the closure that the upper slide track component includes horizontally disposed upper slide bar, is rotatably provided on the upper slide bar, synchronous belt under the closure that the downslide rail assembly includes horizontally disposed drop shot, is rotatably provided on the drop shot, one end of a pair of of X-axis slide block be separately fixed at synchronous belt with it is lower synchronize take；Y-axis slide track component and Y-axis sliding block, the Y-axis slide track component includes the sliding slot being vertically arranged, the closure Y-axis synchronous belt that is rotatably provided on the sliding slot, and Y-axis sliding block is fixed on Y-axis synchronous belt；Dynamic component.The present invention can reduce the electric drive unit of outloading mechanism, to reduce the manufacturing cost of equipment, while reduce the fault point of equipment, reduce maintenance difficulties and maintenance cost.
Description
Technical field
The present invention relates to a kind of Self-help vending machines.It is more particularly related to for certainly in a kind of Self-help vending machine
The mechanism of dynamic shipment.
Background technology
The outloading mechanism in Self-help vending machine is mostly spring outloading mechanism and conventional track outloading mechanism currently on the market, this
Each cargo path is required for an independent electric drive unit (such as in a little outloading mechanisms：Motor) so that single device it is electrical
Driving unit is relatively more, and this aspect can increase the manufacturing cost of equipment, on the other hand can increase the fault point of equipment, after causing
Continuous maintenance difficulties are big, maintenance cost is high, therefore, it is required electrically driven how to reduce outloading mechanism in existing Self-help vending machine
Unit simplifies the problem that driving mechanism is current urgent need to resolve.
Invention content
It is an object of the present invention to provide a kind of Self-help vending machine outloading mechanism, a pair in the driving unit designed
X-axis slide block and Y-axis sliding block can do side-to-side movement and up and down motion respectively under the driving of dynamic component, and Y-axis sliding block is one
To side-to-side movement can be done again under the drive of X-axis slide block, it can thus drive Y-axis sliding block to do left and right and move up and down, and take
Manifest member is fixed on Y-axis sliding block again, can thus be driven picking unit to move to each specified cargo path and be carried out picking, real
Each cargo path can now be driven using single driving unit, greatly reduces driving unit, simplify driving structure.
In order to realize these purposes and other advantages according to the present invention, a kind of Self-help vending machine outloading mechanism is provided,
Including：Driving unit, picking unit and shipment unit, the driving unit include：
Babinet；
Upper slide track component, downslide rail assembly and a pair of of X-axis slide block, the upper slide track component and the downslide rail assembly are opposite
It is arranged in the top and bottom of the babinet, the upper slide track component includes horizontally disposed upper slide bar, is rotatably provided in institute
Synchronous belt in the closure on upper slide bar is stated, synchronous pulley is distributed in the both sides of the upper slide bar and is nibbled with upper synchronous belt in a pair
It closes, the axis vertical setting of upper synchronous pulley, the downslide rail assembly includes horizontally disposed drop shot, is rotatably provided in institute
Synchronous belt under the closure on drop shot is stated, the lower synchronous pulley of a pair is distributed in the both sides of the drop shot and is nibbled with lower synchronous belt
Close, the setting of the axis vertical of lower synchronous pulley, one end of a pair of of X-axis slide block be separately fixed at synchronous belt with it is lower synchronize take；
Y-axis slide track component and Y-axis sliding block, the Y-axis slide track component include the sliding slot being vertically arranged, are rotatably provided in institute
The closure Y-axis synchronous belt on sliding slot is stated, the other end of a pair of of X-axis slide block is separately fixed at the upper and lower ends of the sliding slot, a pair of of Y
Axis synchronous pulley is distributed in the both ends of the sliding slot and is engaged with Y-axis synchronous belt, the axis horizontal setting of Y-axis synchronous pulley,
Y-axis sliding block is fixed on Y-axis synchronous belt, and the picking unit is fixed on Y-axis sliding block；
Dynamic component comprising the first stepper motor for being arranged between the upper slide bar and the drop shot homonymy is set
The second stepper motor in the sliding slot lower end is set, an output shaft of first stepper motor is fixed on a upper synchronous belt
On wheel and another output shaft is fixed on by vertical connecting shaft on corresponding lower synchronous pulley, to drive a pair of of X-axis slide block
Side-to-side movement, to drive Y-axis sliding block side-to-side movement, the output shaft of second stepper motor to be fixed under the sliding slot
On the Y-axis synchronous pulley at end, to drive Y-axis sliding block to move up and down, to drive the picking unit to move to specified cargo path
Picking.
Preferably, wherein the picking unit includes：
Manipulator comprising：
Pedestal comprising integrally formed level board and vertical plate；
The output shaft of first motor and cam, the first motor passes perpendicularly through the vertical plate, and the cam is fixed on
On the output shaft of the first motor and the output shaft of first motor deviates the center of cam；
The output shaft of second motor, swing arm and swing arm gear, second motor passes perpendicularly through the vertical plate and holds
Portion is cased with bearing, is fixed in the middle part of the swing arm on the bearing, and the swing arm gear is fixed on by shaft
It is described
On one free end of swing arm, the shaft is solid on the vertical plate, the output shaft of second motor
Surely have
The driving wheel engaged with the swing arm gear, the driving wheel is between the bearing and the vertical plate, institute
It states convex
Wheel is fastened on another free end of the swing arm, for driving the swing arm closer or far from cargo path；
Pallet, pallet conveyer belt and third motor, the pallet are movably disposed on the level board, the support
The first rotary shaft is respectively equipped on the opposite both sides of disk, the pallet conveyer belt is set in two the first rotary shafts
On, institute
It states and is fixed with driven wheel in the first rotary shaft far from the swing arm gear on pallet, be engaged on the driven wheel
Actively
Wheel, the driving wheel are fixed on the output shaft of the third motor；
Cargo path gear and cargo path conveyer belt, are respectively equipped with the second rotary shaft on the opposite both sides of cargo path, the second rotary shaft and
First rotary shaft is parallel, and the cargo path conveyer belt is set in two the second rotary shafts, the cargo path conveyer belt and the pallet
Side accept, the cargo path gear is fixed on one end of the second rotary shaft at undertaking；
Wherein, when swing arm is extremely prescribed a time limit close to cargo path, swing arm gear is engaged with cargo path gear, when swing arm is far from cargo path,
Swing arm gear is separated with cargo path gear.
Preferably, wherein the shipment unit includes：Output port and limiting plate, the output port are arranged in the case
Body lower part side, the limiting plate are arranged in the babinet and at the lower edges of the output port.
Preferably, wherein horizontal through-hole is also provided on one end of a pair of of X-axis slide block, a pair of of X-axis slide block passes through logical
Hole is respectively slidably set on the upper slide bar and the drop shot, is additionally provided on Y-axis sliding block and is adapted to the sliding slot
Convex block, Y-axis sliding block are slided up and down by the convex block in the sliding slot.
Preferably, wherein another output shaft of first stepper motor passes through the first shaft coupling with the connecting shaft
Device is coaxially connected, and the connecting shaft is fixed on by second shaft coupling on corresponding lower synchronous pulley.
Preferably, wherein have U-shaped opening on another free end of the swing arm, the cam is set with card.
Preferably, wherein hinge is equipped between the bottom surface of the pallet and the level board, the hinge includes two panels
Page board, a piece of page board are fixedly connected on the level board, and another page board is fixed on the bottom surface of the pallet, so that the support
The rotary shaft for coiling hinge is up and down.
Preferably, wherein the pallet is equipped with freight detection sensor.
Preferably, wherein the pallet conveyer belt and cargo path conveyer belt are belt or chain.
Preferably, wherein first stepper motor be both ends have output shaft Dual-output shaft motor, described second
Stepper motor is single output spindle motor that one end has output shaft, the first motor, second motor and third electricity
Machine is direct current generator.
The present invention includes at least following advantageous effect：
(1) present invention moves to each specified cargo path using single driving unit driving picking unit and carries out picking, because
This, can drive each cargo path by single driving unit, required so as to greatly reduce outloading mechanism
Electric drive unit makes the quantity of electric components also greatly reduce, and then can also reduce the manufacturing cost of equipment.
(2) present invention drives each cargo path using single driving unit, while by the manipulator in picking unit
Concentrate in driving unit, the fault point of equipment can be greatly reduced in this way, to reduce subsequent maintenance difficulties and safeguard at
This.
(3) conveyer belt is also added on the pallet in the manipulator that the present invention designs, cargo can be adjusted to stabilization
Position carries out shipment to enable cargo steadily to reach output port, substantially increases the success rate of cargo shipment.
Part is illustrated to embody by further advantage, target and the feature of the present invention by following, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the babinet of the present invention；
Fig. 2 is the front view of the babinet of the present invention；
Fig. 3 is state diagram when manipulator of the invention is parked in specified cargo path；
Fig. 4 is the dimensional structure diagram of Fig. 3；
Fig. 5 is the dimensional structure diagram of the manipulator of the present invention；
Fig. 6 is the front view of the manipulator of the present invention；
Fig. 7 is the side view of the manipulator of the present invention；
Fig. 8 be the present invention swing arm gear close to cargo path gear when state diagram；
Fig. 9 is the state diagram when swing arm gear of the present invention is engaged with cargo path gear；
State diagram when Figure 10 is in cargo movement to pallet in Fig. 9；
Figure 11 be the present invention swing arm gear far from cargo path gear when state diagram；
Figure 12 be the present invention robot movement to output port when state diagram；
State diagram when Figure 13 is the cargo shipment on the manipulator of the present invention.
Specific implementation mode
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art with reference to specification text
Word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
As shown in figs. 1-13, the present invention provides a kind of Self-help vending machine outloading mechanisms, including：Driving unit, carrier's note
Member and shipment unit, picking unit are the device that in the prior art can take out cargo from cargo path, and shipment unit is existing
The device for taking out cargo from picking unit when picking unit is transported at shipment unit may be implemented in technology, it is described
Driving unit includes：
Babinet 1；Babinet 1 is used to support each component in driving unit, picking unit and shipment unit；
Upper slide track component, downslide rail assembly and a pair of of X-axis slide block 4, the upper slide track component and the downslide rail assembly phase
To being arranged in the top and bottom of the babinet 1, the upper slide track component includes horizontally disposed upper slide bar 2, rotatable setting
Synchronous belt in closure on the upper slide bar 2, in a pair synchronous pulley be distributed in the upper slide bar 2 both sides and with it is upper same
Step band engagement, can make synchronous pulley that upper synchronous belt be driven also to rotate in rotation, the axis vertical of upper synchronous pulley in this way
Setting, the downslide rail assembly includes horizontally disposed drop shot 3, the closure that is rotatably provided on the drop shot 3 similarly hereinafter
Band is walked, the lower synchronous pulley of a pair is distributed in the both sides of the drop shot 3 and is engaged with lower synchronous belt, can make similarly hereinafter to walk in this way
Synchronous belt also rotates under belt wheel drives in rotation, the axis vertical setting of lower synchronous pulley, one end point of a pair of of X-axis slide block 4
Be not fixed on synchronous belt with it is lower synchronize take, so as to drive a pair of of X-axis slide block 4 or so when upper synchronous belt and lower synchronous belt rotate
Movement；
Y-axis slide track component and Y-axis sliding block 6, the Y-axis slide track component include the sliding slot 5 being vertically arranged, are rotatably provided in
Closure Y-axis synchronous belt on the sliding slot 5, the other end of a pair of of X-axis slide block 4 are separately fixed at the upper and lower ends of the sliding slot 5,
So that a pair of of X-axis slide block 4 drives 5 side-to-side movement of sliding slot, a pair of of Y-axis synchronous pulley be distributed in the both ends of the sliding slot 5 and with
Y-axis synchronous belt engages, so as to drive Y-axis synchronous belt also to rotate when Y-axis synchronous pulley rotates, the axis horizontal of Y-axis synchronous pulley
Setting, Y-axis sliding block 6 are fixed on Y-axis synchronous belt, so as to drive Y-axis sliding block 6 to move up and down when Y-axis synchronous belt rotates, it is described to take
Manifest member is fixed on Y-axis sliding block 6, so that picking unit moves up and down with Y-axis sliding block 6, to make picking unit motion
To specified cargo path；
Dynamic component comprising the first stepper motor 7 for being arranged between 3 homonymy of the upper slide bar 2 and the drop shot,
The second stepper motor 8 in 5 lower end of the sliding slot is set, and an output shaft of first stepper motor 7 is fixed on one
On synchronous pulley and another output shaft is fixed on by vertical connecting shaft 9 on corresponding lower synchronous pulley, the first stepping electricity
For machine 7 for driving synchronous pulley and lower synchronous pulley to rotate, connecting shaft 9 is used to synchronize synchronous pulley and lower synchronous pulley
Slewing rate, finally with a pair of of 4 synchronously side-to-side movement of X-axis slide block of driving, to drive 6 side-to-side movement of Y-axis sliding block, described the
The output shaft of two stepping motor 8 is fixed on the Y-axis synchronous pulley of 5 lower end of the sliding slot, for driving Y-axis synchronous pulley
Rotation, Y-axis synchronous pulley drive Y-axis synchronous belt to rotate again, finally to drive Y-axis sliding block 6 to move up and down, to be taken described in driving
Manifest member moves to specified cargo path picking.
In this technical solution, Self-help vending machine is before use, upper slide track component, downslide rail assembly, Y-axis slide track component
Initial position (i.e. the lower left corner of babinet 1) is parked in dynamic component, during use, customer selects the cargo for needing to buy,
Primary control program sends instructions to controller later, and controller then controls dynamic component start-up operation, at this point, 7 He of the first stepper motor
Second stepper motor 8 is started to work, under the driving of the first stepper motor 7, synchronous pulley and a pair of lower synchronous pulley in a pair
Start to rotate synchronously, then upper synchronous belt and lower synchronous belt is driven to also begin to rotate synchronously, to drive a pair of of X-axis slide block 4 same
Step ground side-to-side movement, a pair of of X-axis slide block 4 drive 5 side-to-side movement of sliding slot, the final Y-axis sliding block 6 or so driven on sliding slot 5 to transport again
Dynamic, under the driving of the second stepper motor 8, Y-axis synchronous pulley starts to rotate, and then Y-axis synchronous belt is driven to start to rotate, to
Driving Y-axis sliding block 6 starts to move up and down, and the final picking unit driven on Y-axis sliding block 6 does the two dimensional motion of left and right or more, directly
To stopping when moving to specified cargo path, the first stepper motor 7 and the second stepper motor 8 are stopped at this time, to make picking
Unit rests at specified cargo path, after picking unit completes picking, the first stepper motor 7 and the second stepper motor 8 again after
It is continuous to start to work, picking unit is transported to shipment unit position, when picking unit reaches at shipment unit, the first step
Stepper motor 7 is stopped, and the second stepper motor 8 works on, and cargo is sent into shipment unit, realizes shipment, completes shipment
After process, the first stepper motor 7 and the second stepper motor 8 start reverse operation, and picking unit is sent to initial position, is completed whole
A course of work.Using this technical solution, each cargo path can be driven by single driving unit, it can be significantly
The required electric drive unit of outloading mechanism is reduced, so that the quantity of electric components is also greatly reduced, can both reduce equipment
Fault point, reduce maintenance difficulties and maintenance cost, the manufacturing cost of equipment can also be reduced.
In another technical solution, the picking unit includes：
Manipulator comprising：
Pedestal comprising integrally formed level board 10 and vertical plate 11；Pedestal is used to support each portion in picking unit
Part；
The output shaft of first motor 12 and cam 13, the first motor 12 passes perpendicularly through the vertical plate 11, institute
State cam 13 be fixed on the output shaft of the first motor 12 and the output shaft of first motor 12 deviate cam 13
Center；First motor 12 is rotated for driving cam 13, since the output shaft of first motor 12 deviates cam 13
Center, radius at various locations is different when cam 13 can in this way rotated；
Second motor 14, swing arm 15 and swing arm gear 16, the output shaft of second motor 14 pass perpendicularly through described
Vertical plate 11 and end are cased with bearing 17, and the middle part of the swing arm 15 is fixed on the bearing 17, the pendulum
Arm gear 16 is fixed on by shaft 18 on a free end of the swing arm 15, and the shaft 18 is perpendicular to described
Vertical plate 11 is fixed with the driving wheel engaged with the swing arm gear 16 on the output shaft of second motor 14
19,
For second motor 14 for driving driving wheel 19 to rotate, driving wheel 19 can then drive swing arm gear 16 to rotate, described
For driving wheel 19 between the bearing 17 and the vertical plate 11, the cam 13 is fastened on the swing arm 15
Another free end on, for driving the swing arm 15 closer or far from cargo path, when being rotated due to cam 13
Respectively
The radius of a position is different, therefore swing arm 15 can be around axis in two free ends of the drive lower swing arm 15 of cam 13
17 rotations are held, and enable a free end for being fixed with swing arm gear 16 closer or far from cargo path, to make swing arm
Tooth
Wheel 16 also close to or far from cargo path；
Pallet 20, pallet conveyer belt and third motor 21, the pallet 20 are movably disposed in the level board
On 10, the first rotary shaft is respectively equipped on the opposite both sides of the pallet 20, the pallet conveyer belt is set in two
It is a
In first rotary shaft, so as to the rotation of pallet conveyer belt is driven when the first rotary shaft rotates, it is separate on the pallet 20
Institute
It states and is fixed with driven wheel 22 in the first rotary shaft of swing arm gear 16, driving wheel is engaged on the driven wheel 22
23,
The driving wheel 23 is fixed on the output shaft of the third motor 21, and third motor 21 drives 23 turns of driving wheel
It is dynamic,
Driving wheel 23 drives driven wheel 22 to rotate again, and then driven wheel 22 drives the rotation of the first rotary shaft again, final to drive
Pallet conveyer belt rotates；
Cargo path gear 24 and cargo path conveyer belt are respectively equipped with the second rotary shaft, the second rotary shaft on the opposite both sides of cargo path
Parallel with the first rotary shaft, the cargo path conveyer belt is set in two the second rotary shafts, so that band when the second rotary shaft rotates
Dynamic cargo path conveyer belt rotation, the side of the cargo path conveyer belt and the pallet 20 are accepted, and are uploaded for receiving cargo path conveyer belt
The cargo 29 brought, the cargo path gear 24 is fixed on one end of the second rotary shaft at undertaking, so that cargo path gear 24
The second rotary shaft is driven also to rotate when rotation；
Wherein, when swing arm 15 is extremely prescribed a time limit close to cargo path, swing arm gear 16 is engaged with cargo path gear 24, such swing arm gear
16 can drive cargo path gear 24 to rotate, and when swing arm 15 is far from cargo path, swing arm gear 16 is separated with cargo path gear 24, complete
Picking process.
In the above-mentioned technical solutions, when picking unit is parked in specified cargo path position, the manipulator in picking unit is opened
Beginning work is the rotation of 12 driving cam 13 of first motor first, and under the drive of cam 13, swing arm 15 is to close to the direction of cargo path
Movement, while the second motor 14 and third motor 21 are started to work, and swing arm gear 16 and the rotation of pallet conveyer belt are respectively driven, when
When swing arm gear 16 is engaged with cargo path gear 24, first motor 12 is stopped, and the second motor 14 and third motor 21 continue work
Make, cargo 29 is transmitted on pallet 20, finally realizes entire picking process, using this technical solution, in picking unit
Critical piece manipulator concentrates in driving unit, can greatly reduce the fault point of equipment, reduce subsequent maintenance difficulties and
Maintenance cost, while cargo 29 can be smoothly transferred on pallet 20 by the conveyer belt being arranged on manipulator, to improve out
The success rate of goods.
In another technical solution, the shipment unit includes：Output port 25 and limiting plate, the output port 25 are arranged
In 1 lower part side of the babinet, the limiting plate is arranged in the babinet 1 and at the lower edge of the output port 25.
When cargo 29 moves to output port 25, limiting plate can hinder pallet 20 to continue to rise, and pallet 20 is made to overturn, to make support
Cargo 29 on disk 20 is skidded off from output port 25, realizes shipment.
In another technical solution, horizontal through-hole, a pair of of X-axis slide block are also provided on one end of a pair of of X-axis slide block 4
4 are respectively slidably set in by through-hole on the upper slide bar 2 and the drop shot 3, be additionally provided on Y-axis sliding block 6 with it is described
The convex block that sliding slot 5 is adapted to, Y-axis sliding block 6 are slided up and down by the convex block in the sliding slot 5.Using this technical solution, on
Slide bar 2 and drop shot 3 can be that a pair of of X-axis slide block 4 provides the track of sliding, while can also play branch to a pair of of X-axis slide block 4
Support acts on, and keeps equipment more firm, and the convex block that Y-axis sliding block 6 is equipped with can move up and down in order to Y-axis sliding block 6 in sliding slot 5.
In another technical solution, another output shaft of first stepper motor 7 and the connecting shaft 9 pass through the
One shaft coupling 26 is coaxially connected, and the connecting shaft 9 is fixed on by second shaft coupling 27 on corresponding lower synchronous pulley.First
Axis device 26 can be such that another output shaft of first step stepper motor 7 is rotated synchronously with connecting shaft 9, and second shaft coupling 27 can make company
Spindle 9 and lower synchronous pulley rotate synchronously, the final synchronous rotation for realizing a pair of upper synchronous pulley and a pair of lower synchronous pulley.
In another technical solution, there is U-shaped opening on another free end of the swing arm 15, the cam is set with card
13.U-shaped opening sets cam 13 compared to the opening card that can be more convenient for of other shapes.
In another technical solution, hinge, the conjunction are equipped between the bottom surface of the pallet 20 and the level board 10
Page includes two panels page board, and a piece of page board is fixedly connected on the level board 10, and another page board is fixed on the pallet 20
Bottom surface, so that the pallet 20 is up and down around the rotary shaft of hinge.Using this technical solution, when pallet 20 moves to shipment
When mouth 25, the side of pallet 20 can be contacted with limiting plate, and limiting plate can hinder this side of pallet 20 to continue to rise, and close at this time
Under the action of page, pallet 20 can be overturn around the rotary shaft of hinge, and cargo 29 will slide down into output port from pallet 20
25, realize shipment.
In another technical solution, the pallet 20 is equipped with freight detection sensor 28.Freight detection sensor 28
For detecting cargo 29, when freight detection sensor 28 detects cargo 29, the second motor 14 is stopped, and can keep away in this way
Exempt from multiple cargos while being transmitted on pallet 20.
In another technical solution, the pallet conveyer belt and cargo path conveyer belt are belt or chain.Belt and chain
For the most common type of conveyer belt, it is easy to get, it is cheap, the manufacturing cost of equipment can be reduced.
In another technical solution, first stepper motor 7 is the Dual-output shaft motor that both ends have output shaft, institute
It is single output spindle motor that one end has output shaft, the first motor 12,14 and of the second motor to state the second stepper motor 8
The third motor 21 is direct current generator.First stepper motor 7 is for driving synchronous pulley and a pair of lower synchronous belt in a pair
Wheel rotates synchronously, it is therefore desirable to which two output shafts, the second stepper motor 8 is for driving a pair of of Y-axis synchronous pulley to rotate, it is only necessary to
One output shaft, direct current generator stable working, can driving manipulator more smoothly work.
Number of devices and treatment scale described herein are the explanations for simplifying the present invention.To automatic selling of the present invention
The application of machine outloading mechanism, modifications and variations will be readily apparent to persons skilled in the art.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be applied to various suitable the field of the invention completely.It for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of Self-help vending machine outloading mechanism, including：Driving unit, picking unit and shipment unit, which is characterized in that described
Driving unit includes：
Babinet；
Upper slide track component, downslide rail assembly and a pair of of X-axis slide block, the upper slide track component and the downslide rail assembly are oppositely arranged
In the top and bottom of the babinet, the upper slide track component includes horizontally disposed upper slide bar, is rotatably provided on described
Synchronous belt in closure on slide bar, synchronous pulley is distributed in the both sides of the upper slide bar and is engaged with upper synchronous belt in a pair, on
The axis vertical of synchronous pulley is arranged, the downslide rail assembly includes horizontally disposed drop shot, be rotatably provided in it is described under
Synchronous belt under closure on slide bar, the lower synchronous pulley of a pair are distributed in the both sides of the drop shot and are engaged with lower synchronous belt, under
The axis vertical of synchronous pulley is arranged, one end of a pair of of X-axis slide block be separately fixed at synchronous belt with it is lower synchronize take；
Y-axis slide track component and Y-axis sliding block, the Y-axis slide track component include the sliding slot being vertically arranged, are rotatably provided in the cunning
Closure Y-axis synchronous belt on slot, the other end of a pair of of X-axis slide block are separately fixed at the upper and lower ends of the sliding slot, and a pair of of Y-axis is same
Step belt wheel is distributed in the both ends of the sliding slot and is engaged with Y-axis synchronous belt, the axis horizontal setting of Y-axis synchronous pulley, Y-axis
Sliding block is fixed on Y-axis synchronous belt, and the picking unit is fixed on Y-axis sliding block；
Dynamic component comprising the first stepper motor for being arranged between the upper slide bar and the drop shot homonymy, setting exist
One output shaft of the second stepper motor of the sliding slot lower end, first stepper motor is fixed on a upper synchronous pulley
Upper and another output shaft is fixed on by vertical connecting shaft on corresponding lower synchronous pulley, left with a pair of of X-axis slide block of driving
Right movement, to drive Y-axis sliding block side-to-side movement, the output shaft of second stepper motor to be fixed on positioned at the sliding slot lower end
Y-axis synchronous pulley on, with drive Y-axis sliding block move up and down, taken to drive the picking unit to move to specified cargo path
Goods.
2. Self-help vending machine outloading mechanism as described in claim 1, which is characterized in that the picking unit includes：
Manipulator comprising：
Pedestal comprising integrally formed level board and vertical plate；
The output shaft of first motor and cam, the first motor passes perpendicularly through the vertical plate, and the cam is fixed on described
On the output shaft of first motor and the output shaft of first motor deviates the center of cam；
The output shaft of second motor, swing arm and swing arm gear, second motor passes perpendicularly through the vertical plate and end is cased with
Bearing is fixed on the bearing in the middle part of the swing arm, and the swing arm gear is fixed on one of the swing arm by shaft
On free end, the shaft is fixed with and the swing arm gear on the vertical plate, the output shaft of second motor
The driving wheel of engagement, for the driving wheel between the bearing and the vertical plate, the cam is fastened on the swing arm
On another free end, for driving the swing arm closer or far from cargo path；
Pallet, pallet conveyer belt and third motor, the pallet are movably disposed on the level board, and the pallet is opposite
Both sides on be respectively equipped with the first rotary shaft, the pallet conveyer belt is set in two the first rotary shafts, remote on the pallet
From driven wheel is fixed in the first rotary shaft of the swing arm gear, driving wheel, the driving wheel are engaged on the driven wheel
It is fixed on the output shaft of the third motor；
Cargo path gear and cargo path conveyer belt are respectively equipped with the second rotary shaft, the second rotary shaft and first on the opposite both sides of cargo path
Rotary shaft is parallel, and the cargo path conveyer belt is set in two the second rotary shafts, the cargo path conveyer belt and the one of the pallet
Side is accepted, and the cargo path gear is fixed on one end of the second rotary shaft at undertaking；
Wherein, when swing arm is extremely prescribed a time limit close to cargo path, swing arm gear is engaged with cargo path gear, when swing arm is far from cargo path, swing arm
Gear is separated with cargo path gear.
3. Self-help vending machine outloading mechanism as described in claim 1, which is characterized in that the shipment unit includes：Output port
And limiting plate, in the lower box side, the limiting plate is arranged in the babinet and is located at institute for the output port setting
It states at the lower edge of output port.
4. Self-help vending machine outloading mechanism as described in claim 1, which is characterized in that also equal on one end of a pair of of X-axis slide block
It is provided with horizontal through-hole, a pair of of X-axis slide block is respectively slidably set in by through-hole on the upper slide bar and the drop shot,
The convex block being adapted to the sliding slot is additionally provided on Y-axis sliding block, Y-axis sliding block is slided up and down by the convex block in the sliding slot.
5. Self-help vending machine outloading mechanism as described in claim 1, which is characterized in that first stepper motor another
Output shaft is coaxially connected by first shaft coupling with the connecting shaft, and the connecting shaft is fixed on corresponding by second shaft coupling
On lower synchronous pulley.
6. Self-help vending machine outloading mechanism as claimed in claim 2, which is characterized in that on another free end of the swing arm
There is U-shaped opening, the cam is set with card.
7. Self-help vending machine outloading mechanism as claimed in claim 3, which is characterized in that in the bottom surface of the pallet and the water
Hinge is equipped between tablet, the hinge includes two panels page board, and a piece of page board is fixedly connected on the level board, another page board
It is fixed on the bottom surface of the pallet, so that the pallet is up and down around the rotary shaft of hinge.
8. Self-help vending machine outloading mechanism as claimed in claim 2, which is characterized in that the pallet is passed equipped with freight detection
Sensor.
9. Self-help vending machine outloading mechanism as claimed in claim 2, which is characterized in that the pallet conveyer belt and cargo path transmission
Band is belt or chain.
10. Self-help vending machine outloading mechanism as claimed in claim 2, which is characterized in that first stepper motor is both ends
Dual-output shaft motor with output shaft, second stepper motor is single output spindle motor that one end has output shaft, described
First motor, second motor and the third motor are direct current generator.
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| CN201810091941.9A CN108305386A (en) | 2018-01-30 | 2018-01-30 | Self-help vending machine outloading mechanism |
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| CN201810091941.9A CN108305386A (en) | 2018-01-30 | 2018-01-30 | Self-help vending machine outloading mechanism |
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| CN108765736A (en) * | 2018-08-24 | 2018-11-06 | 钟高锋 | A kind of tray that connects based on double modular structures pushes away goods device |
| 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 |
| CN108806080A (en) * | 2018-08-20 | 2018-11-13 | 广州甘来信息科技有限公司 | A kind of automatic vending machine and its outloading mechanism |
| CN108831018A (en) * | 2018-09-03 | 2018-11-16 | 北京卓因达科技有限公司 | XY axle allocation mechanism |
| CN109191689A (en) * | 2018-08-06 | 2019-01-11 | 江阴市万沅电子科技有限公司 | A kind of comprehensive automation vending machine and its working method |
| CN109389748A (en) * | 2018-09-04 | 2019-02-26 | 赵东 | A kind of automatic vending machine and its picking method |
| CN109598847A (en) * | 2018-12-24 | 2019-04-09 | 绵阳市智慧鸟软件技术有限公司 | A kind of picking mechanism of vending machine |
| CN109920157A (en) * | 2019-04-16 | 2019-06-21 | 北京草本便利智能科技有限公司 | A kind of Intelligent medicine-selling cabinet |
| CN110766866A (en) * | 2019-10-30 | 2020-02-07 | 湖南长城信息金融设备有限责任公司 | Crawler goods channel structure of vending machine |
| CN111145445A (en) * | 2019-12-24 | 2020-05-12 | 深圳市沐腾科技有限公司 | Access method of self-service access device |
| CN111540121A (en) * | 2020-04-13 | 2020-08-14 | 上海擎朗智能科技有限公司 | Whole goods delivery mechanism and automatic vending machine thereof |
| CN114360153A (en) * | 2022-01-14 | 2022-04-15 | 深圳蜂鸟鸿嘉利科技有限公司 | Automatic medicine selling machine |
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| CN108765736B (en) * | 2018-08-24 | 2023-08-15 | 钟高锋 | Pallet receiving and pushing device based on dual-module structure |
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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 |
| CN109389748A (en) * | 2018-09-04 | 2019-02-26 | 赵东 | A kind of automatic vending machine and its picking method |
| CN109598847A (en) * | 2018-12-24 | 2019-04-09 | 绵阳市智慧鸟软件技术有限公司 | A kind of picking mechanism of vending machine |
| CN109920157A (en) * | 2019-04-16 | 2019-06-21 | 北京草本便利智能科技有限公司 | A kind of Intelligent medicine-selling cabinet |
| CN110766866A (en) * | 2019-10-30 | 2020-02-07 | 湖南长城信息金融设备有限责任公司 | Crawler goods channel structure of vending machine |
| CN111145445A (en) * | 2019-12-24 | 2020-05-12 | 深圳市沐腾科技有限公司 | Access method of self-service access device |
| CN111540121A (en) * | 2020-04-13 | 2020-08-14 | 上海擎朗智能科技有限公司 | Whole goods delivery mechanism and automatic vending machine thereof |
| CN114360153A (en) * | 2022-01-14 | 2022-04-15 | 深圳蜂鸟鸿嘉利科技有限公司 | Automatic medicine selling machine |
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