CN109064637A - Vending Machine, manipulator picking delivery method and manipulator platform - Google Patents
Vending Machine, manipulator picking delivery method and manipulator platform Download PDFInfo
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- CN109064637A CN109064637A CN201810770829.8A CN201810770829A CN109064637A CN 109064637 A CN109064637 A CN 109064637A CN 201810770829 A CN201810770829 A CN 201810770829A CN 109064637 A CN109064637 A CN 109064637A
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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
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Abstract
The present invention provides a kind of Vending Machine, manipulator picking delivery method and manipulator platforms, kinds of goods are received by the conveyer belt of manipulator platform, and baffle is provided on manipulator platform, and the baffle can also form slope when kinds of goods are sent out output port by manipulator platform, efficiently solve the problems, such as that kinds of goods block and kinds of goods are due to the problem of falling damage.Wherein Vending Machine includes: shelf storing apparatus；Shelf, shelf are arranged in shelf storing apparatus；Manipulator platform, manipulator platform are provided with conveyer belt, end cap are provided with a baffle in manipulator platform, one end of baffle and manipulator platform are rotatablely connected；Controller, wherein controller is rotated for controlling baffle on manipulator platform to form slope between manipulator platform and output port；Mobile device, mobile device are connect with manipulator platform, are used for mobile manipulator platform.
Description
Technical field
The present invention relates to automatic vending machine fields, and in particular to a kind of Vending Machine, manipulator picking delivery method with
And manipulator platform.
Background technique
With the increasingly prosperity of retail business, Vending Machine sells machine as a kind of full-automation, by businessman and Gu
The welcome of visitor.However after customer buys kinds of goods, Vending Machine often occurs that kinds of goods block or eminence kinds of goods are due to falling
The case where damage, occurs.
In view of the above-mentioned problems, urgently providing one kind can effectively solve the problem that kinds of goods block problem and kinds of goods due to falling damage
The technology of problem.
Summary of the invention
In view of this, the present invention provides a kind of Vending Machine, manipulator picking delivery method and manipulator platform, it can
Effectively to solve the problems, such as that kinds of goods block and kinds of goods are due to the problem of falling damage.
According to an aspect of the present invention, a kind of Vending Machine is provided, comprising: shelf storing apparatus；Shelf, wherein goods
Frame is arranged in shelf storing apparatus；Manipulator platform, wherein manipulator platform is provided with conveyer belt, separate in manipulator platform
End cap is provided with a baffle, and one end of baffle and manipulator platform are rotatablely connected；Controller, wherein controller is for controlling gear
Plate rotates on manipulator platform to form slope between manipulator platform and output port；Mobile device, wherein mobile device
It is connect with manipulator platform, is used for mobile manipulator platform.
In some embodiments, controller is also used to control manipulator platform and is moved to specified shelf, and control shelf will
Kinds of goods send out, and control manipulator platform receive kinds of goods, controller be also used to control baffle rotated on manipulator platform with
It is formed and is stopped on conveyer belt.
In some embodiments, controller is moved to output port position for controlling manipulator platform；Flapper is controlled,
To form slope, kinds of goods are passed out to output port by slope by the conveyer belt that wherein controller is also used to control manipulator platform
On pick-up platform.
In some embodiments, stop to be formed by blockings in 90 degree for baffle and manipulator platform, slope for baffle and
Manipulator platform is in greater than 180 degree and to be formed by slope less than 270 degree.
In some embodiments, manipulator platform further includes photoelectric sensor, and the side of conveyer belt is arranged in photoelectric sensor
Face, to detect whether kinds of goods reach designated position.
In some embodiments, manipulator platform further includes pressure sensor, and pressure sensor is arranged on baffle, with inspection
Survey whether kinds of goods reach designated position.
In some embodiments, mobile device includes: mobile platform, and mobile platform is slidably connected with manipulator platform, with
So that manipulator platform moves in the horizontal direction；Moving track, moving track are slidably connected with mobile platform, so that mobile flat
Platform is mobile in vertical direction.
According to another aspect of the present invention, a kind of method of manipulator picking delivery is provided, comprising: control manipulator is flat
Platform obtains kinds of goods from shelf, and wherein manipulator platform is provided with conveyer belt, and end cap is provided with a gear in manipulator platform
Plate, one end of baffle and manipulator platform are rotatablely connected；Control manipulator platform is moved to output port position；Baffle is controlled to turn
It is dynamic, to form slope；The conveyer belt of control manipulator platform passes out to kinds of goods on the pick-up platform of output port by slope.
In some embodiments, further includes: the flapper of control manipulator platform is stopped with being formed；Detection kinds of goods exist
Position on the conveyer belt of manipulator platform, when kinds of goods reach designated position, the conveyer belt of control manipulator platform stops work
Make.
In some embodiments, control manipulator platform obtains kinds of goods from shelf, comprising: control manipulator platform is moved to
Specified shelf；Control shelf pass out to kinds of goods on manipulator platform.
According to another aspect of the present invention, a kind of manipulator platform is provided, comprising: conveyer belt；Plate washer is arranged in machinery
Hand platform is far from end cap, and wherein one end of baffle and manipulator platform are rotatablely connected, so that baffle forms resistance on a moving belt
Gear, and rotate on manipulator platform to form slope between manipulator platform and output port.
The technical solution that the embodiment of the present invention provides receives kinds of goods by the conveyer belt of manipulator platform, and in machinery
Baffle is provided on hand platform, and the baffle can also form slope when kinds of goods are sent out output port by manipulator platform, have
Effect solves the problems, such as that kinds of goods block and kinds of goods are due to the problem of falling damage.
Detailed description of the invention
Fig. 1 show the structural schematic diagram of the Vending Machine of one embodiment of the invention offer.
Fig. 2 show the flow diagram of the manipulator picking delivery of one embodiment of the invention offer.
Fig. 3 show the structural schematic diagram of the manipulator platform of one embodiment of the invention offer.
Fig. 4 show the flow diagram for the manipulator picking delivery that an exemplary embodiment of the invention provides.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
Fig. 1 is the structural schematic diagram for the Vending Machine that one embodiment of the invention provides, which includes shelf
Storing apparatus 110, shelf 120, manipulator platform 130, controller and mobile device 140.
Specifically, shelf storing apparatus 110 can be the appearance of metal or other materials for accommodating and putting shelf
Receive device, the shape of storing apparatus can be changed according to the demand of those of ordinary skill in the art.In the present embodiment should
Storing apparatus can also accommodate other component required for the Vending Machines such as manipulator platform, controller, mobile device.
Shelf setting is mounted in shelf storing apparatus 110, and shelf can be the device using spring Principle of Rotating shipment,
It is also possible to can be plastics, metal or other materials using the device of conveyer belt principle shipment, the material of spring, conveyer belt can
To be cortex conveyer belt, it is also possible to conveyer belt made of the other materials such as metal belt.Different types of shelf can mix
It is combined conjunction and is placed on a row, same type of shelf can also be placed on to a row, the spacing between shelf can be according to kinds of goods
Size is adjusted.Shelf can be used motor using spring Principle of Rotating or conveyer belt principle shipment and provide power, promote bullet
Spring rotation or conveyer belt operation, motor can be used controller and controlled.
Manipulator platform 130 is provided with conveyer belt, and end cap is provided with a baffle in manipulator platform, and the one of baffle
End is rotatablely connected with manipulator platform.
Manipulator platform may include conveyer belt, baffle and/or sensor.Conveyer belt is sent out for receiving from shelf 120
Kinds of goods, conveyer belt can be cortex conveyer belt, is also possible to conveyer belt made of the other materials such as metal belt.Baffle can
To prevent conveyer belt from receiving the kinds of goods sent out from shelf for stopping the kinds of goods on the conveyer belt on manipulator platform
It is fallen afterwards without the kinds of goods caused by stopping, situations such as damage of the kinds of goods that in turn result in, customer can not obtain selected kinds of goods appearance；
Baffle can also be rotated by the rotation connection mode with manipulator platform, and the function of baffle is become oblique from barrier functionality
Slope function facilitates kinds of goods submitting when kinds of goods are passed out to output port, guarantee whole kinds of goods be not subject to rise from
Fall and other unnecessary vibrations.It can also include sensor on the manipulator platform, for monitoring kinds of goods in manipulator
The position of conveyer belt on platform, further prevent kinds of goods falls situation appearance.Controller can be used in conveyer belt and baffle
It is controlled, can also be not specifically limited in this embodiment by other such as electromagnetic mode controls, the present invention by motor.
Controller is rotated on manipulator platform for controlling baffle to be formed tiltedly between manipulator platform and output port
Slope.
As described above, controller can control the motor in the Vending Machine to realize a certain specific component of control
Function.The controller can be also used for control baffle rotated on manipulator platform, flapper to manipulator mesa-shaped
When angled, the barrier functionality of baffle can be converted to slope function, and slope facilitates kinds of goods from manipulator platform
Conveyer belt on be moved to the output port of Vending Machine so that the safety of kinds of goods obtains in entire picking shipment function course
It ensures.
Mobile device 140 is connect with manipulator platform, is used for mobile manipulator platform.
Specifically, mobile device 140 can use gear transmission structure, can also be using belt transmission, hinge transmission etc.
Other modes.Mobile device can be arranged in x-axis and z-axis, carry out horizontal and vertical movement for controlling manipulator platform,
Y-axis direction can also be increased, so that manipulator platform can take on different depth shelf on the basis of x-axis and z-axis
Kinds of goods, the present invention direction mobile to manipulator platform are not specifically limited, and any those skilled in the art can think
To and realize mode all should belong in protection scope of the present invention.Controlling the movement of manipulator platform by drive mechanism can also
It is realized in a manner of using motor etc., motor is controlled by controller.
Controller built in Vending Machine by control mobile device come mobile manipulator platform at the shelf specified,
Conveyer belt by controlling manipulator platform receives the kinds of goods of shelf, guarantees that kinds of goods are sent to manipulator platform, later mechanically moving
For hand platform to output port position, the baffle rotary for controlling manipulator platform sloping guarantees that kinds of goods are born during submitting
Lesser vibration can block problem and kinds of goods due to falling damage with the kinds of goods of the existing Vending Machine of effective solution
Problem.
In some embodiments, controller is also used to control manipulator platform and is moved to specified shelf, and control shelf will
Kinds of goods send out, and control manipulator platform receive kinds of goods, controller be also used to control baffle rotated on manipulator platform with
It is formed and is stopped on conveyer belt.
Specifically, controller can be moved to specified shelf by control mobile device to control manipulator platform,
Specified shelf can be what customer clicked on Vending Machine, be also possible to the seat for the specific shelf that other modes obtain
The modes such as mark instruction.Controller can control shelf and send out kinds of goods, such as can be on the shelf for controlling torsional spring formula
Spring rotates a certain angle, and kinds of goods are sent out, and is also possible to for example control the conveyer belt on the shelf of conveyor type for kinds of goods
It sends out.In the period that controller control shelf send out kinds of goods, such as it can be and start to control shelf submitting goods with controller
The time phase difference of product 1 second, or simultaneously, control manipulator platform receives kinds of goods, manipulator platform, which receives kinds of goods and can be, passes through control
Conveyer belt on manipulator platform processed runs to receive kinds of goods, receives the period of kinds of goods in controller control manipulator platform,
Such as it can be to start to control manipulator platform with controller and receive time phase difference 1 second of kinds of goods, or simultaneously, control manipulator is flat
Baffle on platform is rotated, and is stopped with being formed, the conveyer belt model which is used to that kinds of goods to be prevented to move out manipulator platform
Enclose, so as to cause kinds of goods fall the problems such as.
In some embodiments, controller is moved to output port position for controlling manipulator platform；Flapper is controlled,
To form slope, kinds of goods are passed out to output port by slope by the conveyer belt that wherein controller is also used to control manipulator platform
On pick-up platform.
Specifically, controller can be used for controlling mobile device and be moved to output port position to control manipulator platform,
Shipment door can be set in output port position, and controller can also control the opening and closing of shipment door.When detecting that manipulator platform is moved to
When the position of output port, controller can control shipment door opening, rotate sloping sky to provide manipulator platform overhead gage
Between.After shipment door is opened, controller can control the rotation of baffle on manipulator platform, so that the baffle is by stopping
The sloping function of functional shift, one end that the angle on slope can be the separate shaft of the baffle ride on pick-up platform just
When baffle and manipulator platform be formed by angle, be also possible to preset fixed angle.The function on the slope is so that kinds of goods
Pick-up platform can smoothly be passed out to.After controller control baffle forms slope, it is flat that controller can also control manipulator
The conveyer belt of platform is moved, so that kinds of goods are moved at slope, makes kinds of goods by conveyer belt and certain gravity
It skids off from slope onto pick-up platform.
In some embodiments, stop to be formed by blockings in 90 degree for baffle and manipulator platform, slope for baffle and
Manipulator platform is in greater than 180 degree and to be formed by slope less than 270 degree.
As described above, blocking is fallen for preventing kinds of goods from moving out kinds of goods caused by the conveyer belt range of manipulator platform
Problem, therefore stop at least to have a certain degree with the conveyer belt shape of manipulator platform, to play barrier effect, such as can be with
It is baffle and manipulator platform in 90 degree, the barrier effect that baffle is played at this time maximizes；Slope is used to help kinds of goods and skids off,
So that the process of shipment is more smooth, therefore the angle on slope can be one end of the separate shaft of the baffle and ride over and take just
Baffle and manipulator platform are formed by angle when on goods platform, are also possible to preset fixed angle, such as can be baffle
It is greater than 180 degree with manipulator platform and when less than 270 degree, it is preferred that baffle can choose with manipulator platform institute angle degree
Between 200 degree to 225 degree.It is to be understood that one end that the selection of angle is also based on the separate shaft of baffle is taken just
It is calculated to be formed by angle institute for baffle and manipulator platform when on pick-up platform, and those skilled in the art can be with
The fixed angle is set according to demand.
In some embodiments, manipulator platform further includes photoelectric sensor, and the side of conveyer belt is arranged in photoelectric sensor
Face, to detect whether kinds of goods reach designated position.
Specifically, sensor can be set in the two sides of manipulator platform, such as can be photoelectric sensor, photoelectric sensor
It can be used for detecting whether kinds of goods reach designated position, specified position can be the baffle 1 for example on manipulator platform
Centimetre position, as the first barrier for preventing kinds of goods from moving out manipulator platform.When kinds of goods are moved to photoelectric sensor
When detecting position, light is received since kinds of goods block sensor, so as to judge that kinds of goods reach designated position, at this time controller
The conveyer belt controlled on manipulator platform is out of service.
In some embodiments, manipulator platform further includes pressure sensor, and pressure sensor is arranged on baffle, with inspection
Survey whether kinds of goods reach designated position.
Specifically, manipulator platform can also include pressure sensor, which can be set on baffle,
When kinds of goods are moved at baffle by conveyer belt, kinds of goods can touch the baffle, so that the pressure sensing on the baffle be arranged in
Device will detect that kinds of goods have arrived at designated position, thus it is out of service by controller control conveyer belt, prevent kinds of goods mobile
The range of manipulator platform out, it is therefore prevented that damage caused by kinds of goods fall, while can also save the energy.
In some embodiments, mobile device includes: mobile platform, and mobile platform is slidably connected with manipulator platform, with
So that manipulator platform moves in the horizontal direction；Moving track, moving track are slidably connected with mobile platform, so that mobile flat
Platform is mobile in vertical direction.
Specifically, mobile device may include mobile platform, mobile platform can be slidably connected with manipulator platform, even
The place of connecing can be pulley connection, be also possible to other connection types, all to can control manipulator platform water on a mobile platform
Flat movement belongs in protection scope of the present invention in the mode of x-axis direction movement.And moving track is responsible for manipulator platform
Movement in vertical direction or z-axis direction, moving track can be pulley with the connection type of manipulator platform and connect, can also
To be other connection types, details are not described herein.
Fig. 2 show the flow diagram of the manipulator picking delivery of one embodiment of the invention offer.The process can be by counting
Calculation machine device, such as controller etc. are realized.The method of manipulator picking delivery, comprising:
210: control manipulator platform obtains kinds of goods from shelf, and wherein manipulator platform is provided with conveyer belt, in manipulator
Platform is provided with a baffle far from end cap, and one end of baffle and manipulator platform are rotatablely connected.
Specifically, controller can control manipulator platform and obtain kinds of goods from shelf, and the process of acquisition is existed by setting
The conveyer belt of manipulator platform obtains, and controller can control conveyer belt operation, and the kinds of goods sent out on shelf are moved to machine
On tool hand platform.A baffle is additionally provided on platform after manipulator, one end of the baffle and manipulator platform are rotatablely connected,
Different functions, such as blocking or oblique can be realized by rotating the baffle when manipulator platform picking and delivery
Slope function.
220: control manipulator platform is moved to output port position.
Controller can also control the position that manipulator platform is moved to output port by control mobile device.Output port
Position can be coordinate representation, such as x-axis z-axis coordinate, x-axis indicates the horizontal position of output port, and z-axis indicates output port
Upright position can navigate to specific location of the output port in Vending Machine coordinate by horizontal position and upright position,
So that manipulator platform can be moved to the position of output port by controller according to coordinate using such as x-axis z-axis mobile device
It sets.
230: control flapper, to form slope.
Specifically, controller can control the flapper on manipulator platform, until baffle is far from manipulator platform
One end be in contact with output port, or the angle that control flapper is fixed.It is to be understood that if output port position is set
It is equipped with shipment door, then before the flapper on controller control manipulator platform, needs first to control shipment door opening, with shape
At the sufficient space for forming slope for baffle.
240: the conveyer belt of control manipulator platform passes out to kinds of goods on the pick-up platform of output port by slope.
After the baffle on manipulator platform forms slope function, controller can control the conveyer belt on manipulator platform
Operation, so that the kinds of goods on conveyer belt pass out on the pick-up platform of output port, kinds of goods in this process can be by conveyer belt
It is transported out the range of manipulator platform, is skidded off on pick-up platform using slope later.
Controller can control manipulator from the kinds of goods obtained on shelf to the picking that kinds of goods are finally passed out to output port
On platform, kinds of goods can be made to avoid unnecessary vibration in this process, prevent kinds of goods from damaging, while can guarantee goods again
Product smoothly pass out to output port platform, can effectively solve the case where kinds of goods block or fall appearance.
In some embodiments, the method for Fig. 2 further include: the flapper of control manipulator platform is stopped with being formed；Inspection
Position of the kinds of goods on the conveyer belt of manipulator platform is surveyed, when kinds of goods reach designated position, controls the transmission of manipulator platform
Band stops working.
Specifically, controller can also control the flapper on manipulator platform to be formed and be stopped, forming blocking is
When in order to obtain the kinds of goods on shelf in manipulator platform, when kinds of goods will move out the conveyer belt range on manipulator platform
When, blocking can be played the role of, prevent kinds of goods from falling damage.Stop to can be used as the final protection to kinds of goods, before this
Sensor can also be set the first pipe protection is arranged, sensor can be such as photoelectric sensor or other kinds of sensing
Device, it is therefore an objective to which controller can detecte position of the kinds of goods on the conveyer belt of manipulator platform, when kinds of goods are moved to a certain preset
When position, the conveyer belt that controller can control on manipulator platform stops working, and can equally play prevents kinds of goods from falling damage
Bad purpose.
In some embodiments, control manipulator platform obtains kinds of goods from shelf, comprising: control manipulator platform is moved to
Specified shelf；Control shelf pass out to kinds of goods on manipulator platform.
Specifically, controller can control the movement of manipulator platform by control such as mobile device, and manipulator is flat
The movement of platform may include that manipulator platform is moved to specified shelf, and mobile device can be the mobile dress of x-axis z-axis above-mentioned
It sets, is also possible to other kinds of device, details are not described herein.Controller can also control shelf and kinds of goods are passed out to manipulator
On platform, such as when shelf are torsional spring formula shelf, controller can control the fixed angle of spring rotation, by kinds of goods
It sends out；When shelf are conveyor type shelf, the conveyer belt that controller can control shelf sends out kinds of goods, and the process of control can
To be control conveyer belt operation set time or fixed range, it is also possible to the photoelectric sensor for example, by manipulator platform
Or other modes detection kinds of goods, when being delivered on manipulator platform, the conveyer belt controlled on shelf stops working.
Fig. 3 show the structural schematic diagram of the manipulator platform of one embodiment of the invention offer.Manipulator platform includes: to pass
Send band 310 and baffle 320.
Conveyer belt 310 can be cortex conveyer belt, be also possible to other such as metal track conveyer belt.Conveyer belt is used for
The kinds of goods sent out from shelf are received and obtain, the working time of conveyer belt or range ability can be controlled for example, by controller
System.
The setting of plate washer 320 is in manipulator platform far from end cap, and wherein one end of baffle and manipulator platform are rotatablely connected,
So that baffle forms blocking on a moving belt, and rotate on manipulator platform to be formed between manipulator platform and output port
Slope.
Specifically, one end of baffle 320 and manipulator platform can be realized by shaft is rotatablely connected, the rotation of baffle
It can be controlled for example, by controller, when controller controls, baffle rotates and the formation of belt 310 is, for example, less than the angle of 180 degree
When, the function of stopping may be implemented, it is in 90 degree that preferred angle, which is with belt 310, can play optimal barrier effect, stop
For stopping kinds of goods to move out the range of manipulator platform, prevent kinds of goods from falling damage；When controller control baffle rotation and skin
It is formed with 310 when being greater than 180 degree and angle less than 270 degree, the function on slope, slope and 310 shape of belt may be implemented
At angle can be adjusted at a distance from the pick-up platform of output port according to manipulator platform, be not specifically limited herein,
Slope can play the role of buffering when kinds of goods send out output port.
It is to be understood that manipulator platform can also include the receiving unit of photoelectric sensor, it is mounted in figure 320 position
It sets, the emission part of another side installation photoelectric sensor of corresponding manipulator, the receiving unit and emission part of photoelectric sensor can also
It is installed with transposition.Photoelectric sensor can also be controlled for example, by controller, pass through light sensor, controller
It can detecte position of the kinds of goods on the conveyer belt of manipulator platform, the transmission of manipulator platform controlled when reaching scheduled position
The case where band stops working, and can play the range for preventing kinds of goods from moving out manipulator platform appearance, so that kinds of goods be avoided to fall.
Fig. 4 show the process signal of the control method for the manipulator picking delivery that an exemplary embodiment of the invention provides
Figure, comprising:
410: the flapper of control manipulator platform is stopped with being formed.
The baffle that can be rotated with one end is provided on manipulator platform, the process of rotation can be controlled by controller
System, controller can control the baffle and rotated, and be stopped with being formed, and prepare next to obtain the kinds of goods on shelf.It needs
It is to be understood that baffle is in manipulator platform when baffle is rotated to when forming blocking, it is preferred that baffle and machinery
The case where conveyer belt on hand platform is in 90 degree, forms slope compared to baffle at this time, forms and is more conducive in the case where stopping
Manipulator platform is moving in narrow space.
420: control manipulator platform is moved to shelf location.
Controller can control mobile device to control manipulator platform and be moved to shelf location.Mobile device can be x
The mobile device of axis z-axis can make manipulator platform in x-axis direction and z-axis side's upward sliding.Such as when customer has clicked seat
Be designated as x-axis coordinate 3, z-axis coordinate 4 shelf on product, then controller control mobile device by manipulator mobile 3 in x-axis,
Again mobile 4 in z-axis, first mobile in z-axis it can also be moved in x-axis again.
430: control shelf pass out to kinds of goods on manipulator platform.
When manipulator platform is moved to before specified shelf, controller can control shelf and send out kinds of goods, such as
The angle that can control the shelf rotation fixation of torsional spring formula sends out kinds of goods, while controlling the transmission on manipulator platform
Band work may insure that the kinds of goods on shelf can be simultaneously by shelf release and by manipulator platform during submitting in this way
Conveyer belt receive, the case where avoiding kinds of goods from blocking appearance.When shelf are conveyor type shelf, principle and spring shelf
Principle is identical, and conveyor type shelf can also install photoelectric detector in shelf two sides, for detecting whether kinds of goods send out shelf,
When detecting that kinds of goods send out shelf, the conveyer belt on shelf can be controlled by controller and stopped working.Goods is controlled in controller
When conveyer belt on frame sends out kinds of goods, while it also can control the work of the conveyer belt on manipulator platform, to guarantee that cargo can be with
It is sent on manipulator platform.
440: position of the detection kinds of goods on the conveyer belt of manipulator platform controls machine when kinds of goods reach designated position
The conveyer belt of tool hand platform stops working.
It is also provided with such as photoelectric sensor on manipulator platform, can detecte kinds of goods on manipulator platform
The position of conveyer belt, when detecting that kinds of goods reach designated position, the conveyer belt that controller can control manipulator platform stops
It only works, while reducing the waste of electric power, kinds of goods can also be avoided to be moved out the range of manipulator platform, kinds of goods is caused to fall
Fall damage or customer's situations such as can not obtaining the product clicked appearance.
450: control manipulator platform is moved to output port position.
After kinds of goods are received by manipulator platform completely, it is flat that controller can control manipulator by mobile device
Platform is moved to output port position, and mobile process is similar with 420, and details are not described herein.
460: control flapper, to form slope.
If being not provided with shipment door at output port, controller controls flapper, to form slope, it is preferred that gear
Plate is rotated the pick-up platform for touching output port far from one end of manipulator platform until baffle, or use is between 200 degree
Angle between 225 degree, such as 225 degree of fixed angle.If output port position is provided with shipment door, controller is first controlled
Goods door opening is produced, to form the space sloping for flapper.
470: the conveyer belt of control manipulator platform passes out to kinds of goods on the pick-up platform of output port by slope.
After slope is formed, controller can control the work of the conveyer belt on manipulator platform, and kinds of goods are passed out to out
On the pick-up platform of goods mouth.After kinds of goods submitting, controller can control flapper, re-forms and stops for taking next time
Goods process is prepared.If output port position is provided with shipment door, after control flapper re-forms blocking, controller
The closing of shipment door can also be controlled.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program ver-ify code such as reservoir (RAM, Random Access Memory), magnetic or disk.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (11)
1. a kind of Vending Machine characterized by comprising
Shelf storing apparatus；
Shelf, wherein the shelf are arranged in the shelf storing apparatus；
Manipulator platform is arranged in the manipulator platform far from end cap wherein the manipulator platform is provided with conveyer belt
There is a baffle, one end of the baffle and the manipulator platform are rotatablely connected；
Controller, wherein the controller rotates on the manipulator platform in the manipulator for controlling the baffle
Slope is formed between platform and output port；
Mobile device, wherein the mobile device is connect with the manipulator platform, for moving the manipulator platform.
2. the apparatus according to claim 1, which is characterized in that the controller is also used to control the manipulator platform and moves
The specified shelf are moved, the shelf is controlled and sends out kinds of goods, and controls the manipulator platform and receives the kinds of goods, institute
State controller be also used to control the baffle rotated on the manipulator platform on the conveyer belt formed stop.
3. the apparatus according to claim 1, which is characterized in that the controller is mobile for controlling the manipulator platform
To output port position；The flapper is controlled, to form the slope, wherein the controller is also used to control the machinery
The conveyer belt of hand platform is passed out to the kinds of goods by the slope on the pick-up platform of the output port.
4. device according to any one of claims 1 to 3, which is characterized in that the blocking is the baffle and institute
It states manipulator platform and is formed by blocking in 90 degree, the slope is the baffle and the manipulator platform is in be greater than 180 degree
And slope is formed by less than 270 degree.
5. device according to any one of claims 1 to 3, which is characterized in that the manipulator platform further includes light
The side of the conveyer belt is arranged in electric transducer, the photoelectric sensor, to detect whether the kinds of goods reach designated position.
6. device according to any one of claims 1 to 3, which is characterized in that the manipulator platform further includes pressure
Force snesor, the pressure sensor is arranged on the baffle, to detect whether the kinds of goods reach designated position.
7. device according to any one of claims 1 to 3, which is characterized in that the mobile device includes:
Mobile platform, the mobile platform are slidably connected with the manipulator platform, so that the manipulator platform is in level
Direction is mobile；
Moving track, the moving track are slidably connected with the mobile platform, so that the mobile platform is in vertical direction
It is mobile.
8. a kind of method of manipulator picking delivery characterized by comprising
It controls manipulator platform and obtains kinds of goods from shelf, wherein the manipulator platform is provided with conveyer belt, in the manipulator
Platform is provided with a baffle far from end cap, and one end of the baffle and the manipulator platform are rotatablely connected；
It controls the manipulator platform and is moved to output port position；
The flapper is controlled, to form the slope；
The conveyer belt for controlling the manipulator platform puts down the kinds of goods by the picking that the slope passes out to the output port
On platform.
9. controlling the method according to claim 8, which is characterized in that further include:
The flapper of manipulator platform is controlled, is stopped with being formed；
Position of the kinds of goods on the conveyer belt of manipulator platform is detected, when the kinds of goods reach designated position, controls the machine
The conveyer belt of tool hand platform stops working.
10. according to the method described in claim 9, it is characterized in that, the control manipulator platform obtains kinds of goods, packet from shelf
It includes:
It controls the manipulator platform and is moved to the specified shelf；
The shelf are controlled to pass out to the kinds of goods on the manipulator platform.
11. a kind of manipulator platform characterized by comprising
Conveyer belt；
Plate washer is arranged in the manipulator platform far from end cap, wherein one end of the baffle and the manipulator platform turn
Dynamic connection so that the baffle forms blocking on the conveyer belt, and rotates on the manipulator platform in the machine
Slope is formed between tool hand platform and output port.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810770829.8A CN109064637A (en) | 2018-07-13 | 2018-07-13 | Vending Machine, manipulator picking delivery method and manipulator platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810770829.8A CN109064637A (en) | 2018-07-13 | 2018-07-13 | Vending Machine, manipulator picking delivery method and manipulator platform |
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| CN109064637A true CN109064637A (en) | 2018-12-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810770829.8A Pending CN109064637A (en) | 2018-07-13 | 2018-07-13 | Vending Machine, manipulator picking delivery method and manipulator platform |
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