CN109243060A - A kind of automatic vending machine and combined type vending machine - Google Patents
A kind of automatic vending machine and combined type vending machine Download PDFInfo
- Publication number
- CN109243060A CN109243060A CN201811028609.4A CN201811028609A CN109243060A CN 109243060 A CN109243060 A CN 109243060A CN 201811028609 A CN201811028609 A CN 201811028609A CN 109243060 A CN109243060 A CN 109243060A
- Authority
- CN
- China
- Prior art keywords
- vending machine
- commodity
- output port
- mechanical arm
- automatic vending
- 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.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 230000005540 biological transmission Effects 0.000 claims description 20
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 8
- 230000000712 assembly Effects 0.000 description 7
- 238000000429 assembly Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 210000003781 tooth socket Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Vending Devices And Auxiliary Devices For Vending Devices (AREA)
Abstract
The present invention relates to automatic vending machine fields, specifically disclose a kind of automatic vending machine, the automatic vending machine includes cabinet body, outloading mechanism and picking mechanism, cabinet body has output port, shelf, outloading mechanism includes the shopping cart of output port door-plate and face output port, and picking mechanism includes transfer mechanism and the mechanical arm assembly that is slidably connected on transfer mechanism.Automatic vending machine of the invention can prevent commodity to be damaged in shipment, avoid the occurrence of card goods phenomenon, be suitable for selling the commodity needs of different categories, additionally it is possible to realize single purchase more than one piece commodity, save client's time, promote user experience.The invention also discloses a kind of combined type vending machines, including host and the subsidiary engine being set side by side with host, main and auxiliaries is above-mentioned automatic vending machine, and touch screen is provided on the front door of the cabinet body of host, touch screen is connected with the control circuit of host, and the output port of host and the output port of subsidiary engine are set to the middle part at the front door of cabinet body.
Description
Technical field
The present invention relates to vending machine technical fields, more particularly to a kind of automatic vending machine and combined type vending machine.
Background technique
Automatic vending machine is the machine that goods can be paid automatically according to the coin of investment, it is not limited by time, place, can be saved
Human-saving facilitates transaction, since its convenience receives the welcome of more and more users, is widely used in various occasions.
But existing automatic vending machine has the following deficiencies:
(1) it easily leads to commodity damage or card goods phenomenon occurs.The existing common picking mode of automatic vending machine are as follows: client
After selecting commodity and completing payment, the driving device on shelf releases the commodity that client buys from shelf, and commodity are at itself
It directly falls under gravity or is slided into the lower article-storage device in position along shipment track, client is from output port article-storage device
Take out commodity.This picking mode is passively to be fallen by height official post commodity into goods taking device, and commodity are falling easy damage
It is bad, thus but also automatic vending machine is unsuitable for selling frangible commodity, limit the type of merchandize that can be sold.Simultaneously as
Each Structural assignments are relatively closer inside automatic vending machine, squeeze and take up too much space, and remaining clearance position is smaller, commodity falling process
In the case where being easy to produce card goods, influence the normal work of automatic vending machine；
(2) more than one piece commodity shopping is complicated for operation.When client uses existing vending purchasing commodity, can only once it select
One commodity buys next commodity wait can just be further continued for after the completion of operating, and when client needs to buy two pieces or the above quantity
Commodity when, it is necessary to carry out multi-pass operation, could buy required commodity piece by piece, operating process redundant and complicated, need to expend compared with
More times influence user's experience；
(3) it is easy to appear clamp hand phenomenon.Existing picking door-plate is Manual structure, and client needs to push picking door-plate open manually
And take commodity away from shipment article-storage device, picking door-plate exists by self gravity or recoil of spring to closed state, door-plate
It is easy to clip to the hand of client during reset.
Summary of the invention
In order to solve the problems in above-mentioned background technique, the object of the present invention is to provide a kind of automatic vending machines, can
Replace the picking mode for falling shipment at present, commodity is prevented to be damaged in falling process, avoid the occurrence of card goods phenomenon, reduces and use
Failure rate is suitable for selling the commodity needs of different categories, additionally it is possible to which commodity needed for realizing single purchase more than one piece client save visitor
The family time promotes user experience.The present invention also provides a kind of combined type vending machines.
Based on this, one aspect of the present invention provides a kind of automatic vending machine, comprising:
Cabinet body, the cabinet body have output port, shelf；
Outloading mechanism, the outloading mechanism include the output port door-plate for opening and closing the output port and are right against
The shopping cart of the output port setting；
For commodity to be transported to the picking mechanism in the shopping cart from the shelf, the picking mechanism includes transfer
Mechanism and the mechanical arm assembly for being slidably connected on the transfer mechanism and be used to grab commodity.
Preferably, the transfer mechanism includes vertically arranged Y-axis component and is horizontally disposed with and is installed on the Y
On shaft assembly and can the relatively described Y-axis component upper and lower translation X-axis component；
The Y-axis component includes Y-axis frame and on the Y-axis frame and for realizing the X-axis component up and down
First sliding component of translation, the X-axis component include X-axis frame, on the X-axis frame and for making the manipulator
Component realizes the second sliding component of left and right translation.
Preferably, the mechanical arm assembly includes bottom plate, the articles holding table being slidably connected on the bottom plate, sliding
It is connected to the bottom plate and is located above the articles holding table and be used to grab the manipulator of commodity and for driving the manipulator
The first driving device of movement；The articles holding table slides in the same direction with the manipulator, and the articles holding table is along the bottom plate
It slides into after being docked with the cargo path on shelf, the commodity in the mechanical arm assembly crawl cargo path are simultaneously placed in the articles holding table
On.
Preferably, the shopping cart is slidingly disposed at the shelf, is equipped in the shopping cart for detecting
Whether there is or not the detection devices of commodity in shopping cart；The outloading mechanism further includes the inside set on the output port and is used to drive institute
The second driving device, the third for driving the shopping cart to slide along the shelf to the output port for stating output port door-plate
Driving device.
Preferably, the shelf include chassis, the pallet being removably mounted on the chassis, set on described
On pallet and can be realized with the pallet driving assembly of fast assembling-disassembling, the track assembly that be connected by power with the driving component,
The side dam assemblies for being removably installed in the track assembly two sides, the lagging component being installed on the track assembly.
Preferably, first sliding component includes vertically arranged first ball screw, the first sliding rail and institute
State first ball screw rotation connection and the y-axis motor for driving X-axis component upper and lower translation on first sliding rail；
Second sliding component includes that horizontally disposed second ball-screw, the second sliding rail and second ball screw turns connect
It connects and for driving the mechanical arm assembly X-axis motor that left and right translates on second sliding rail.
Preferably, the side of the articles holding table, which is equipped with, is driven cooperation with the manipulator gap and is used to make described
The gap transmission component that manipulator drives the articles holding table to slide together in the leading portion of sliding path；
The manipulator includes the sliding platform being slidably connected on the bottom plate, perpendicular to the sliding of the sliding platform
Direction and the arm slide rails being installed on the sliding platform are slidably connected to arm slide rails and long along the arm slide rails
Degree the first mechanical arm for being arranged side by side of direction and the second mechanical arm, for driving first mechanical arm and described second
The power device of mechanical arm sliding.
Preferably, first mechanical arm and second mechanical arm, which are equipped with, gets commodity for detecting
Pressure sensor；The mechanical arm assembly further includes vacuum pump, first mechanical arm and second mechanical arm
End is equipped with the sucker connecting with the vacuum pump；
The power output end of the first driving device is connected with synchronous belt, and the bottom of the sliding platform is equipped with across institute
State the grip block of articles holding table, the grip block is held on the two sides of the synchronous belt wherein side belt；
The gap transmission component includes the first rack gear for being fixedly connected on the sliding platform bottom, is fixedly connected on institute
It states articles holding table and the second rack gear for being located at below first rack gear and is articulated in the first transmission gear of the bottom plate, described the
The length for being shorter in length than second rack gear of one rack gear, and first rack gear and second rack gear are with described first
Transmission gear engagement.
Another aspect of the present invention, provides a kind of combined type vending machine, including host and arranged side by side with the host
The subsidiary engine of setting, the host and the subsidiary engine are above-mentioned automatic vending machine, and are arranged on the front door of the cabinet body of the host
There is touch screen, the touch screen is connected with the control circuit of the host；The output port of the host and the subsidiary engine go out
Goods mouth is set to the middle part at the front door of cabinet body.
Preferably, the two sides of the host are respectively arranged with the subsidiary engine, and the output port of the subsidiary engine is set to cabinet
Side in the middle part of the front door of body and close to the host.
Compared to the prior art, the beneficial effects of the present invention are:
Automatic vending machine of the invention, mechanical arm assembly are slidably connected to transfer mechanism, can will be mechanical by transfer mechanism
Hand component flexibly moves, can be convenient mechanical arm assembly grab commodity on shelf, and carry it to shopping cart, by
This realization actively grabs commodity progress picking can prevent commodity in falling process instead of the picking mode for falling shipment
It is impaired, it is suitable for selling the demand of fragile type commodity, while also avoiding the phenomenon that card goods occur, reduces and use failure rate.It is logical
It crosses mechanical arm assembly and grabs commodity to shopping cart piece by piece, open output port door-plate again after the completion of crawl, user is from shopping
Bought entire service is taken out in vehicle, is achieved in disposable purchase more than one piece commodity, is saved client's time, improve user
Experience.
Detailed description of the invention
Fig. 1 is the three-dimensional structure diagram that a kind of automatic vending machine provided in an embodiment of the present invention conceals front door；
Fig. 2 is the three-dimensional structure diagram of transfer mechanism provided in this embodiment；
Fig. 3 is the three-dimensional structure diagram of mechanical arm assembly provided in this embodiment；
Fig. 4 is that Fig. 3 conceals the three-dimensional structure diagram after articles holding table；
Fig. 5 is the partial enlarged view in Fig. 4 at I；
Fig. 6 is the three-dimensional structure diagram of shopping cart and shelf provided in this embodiment；
Fig. 7 is the three-dimensional structure diagram of outloading mechanism provided in this embodiment；
Fig. 8 is the three-dimensional structure diagram of shelf provided in this embodiment；
Fig. 9 is the main view of combined type vending machine provided in this embodiment.
Wherein, 1, cabinet body；11, output port；12, shelf；121, chassis；122, pallet；123, driving assembly；124, crawler belt
Component；125, side dam assemblies；126, lagging component；13, front door；14, touch screen；2, output port door-plate；21, the second driving
Device；3, shopping cart；31, detection device；32, third driving device；40, transfer mechanism；41, Y-axis component；411, Y-axis frame；
412, first ball screw；413, the first sliding rail；414, y-axis motor；42, X-axis component；421, X-axis frame；422, the second ball
Lead screw；423, the second sliding rail；424, X-axis motor；50, mechanical arm assembly；51, bottom plate；52, articles holding table；53, manipulator；531,
Sliding platform；5311, grip block；532, arm slide rails；533, the first mechanical arm；534, the second mechanical arm；535, power
Device；536, pressure sensor；54, first driving device；541, synchronous belt；55, gap transmission component；551, the first rack gear；
552, the second rack gear；553, the first transmission gear；56, vacuum pump；57, sucker；6, host；7, subsidiary engine.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "front", "rear", " left side ",
The orientation or positional relationship of the instructions such as " right side ", "vertical", "horizontal", "top", "bottom" "inner", "outside" is side based on the figure
Position or positional relationship, are merely for convenience of description of the present invention and simplification of the description, rather than the device or member of indication or suggestion meaning
Part must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.This
Outside, term " first ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
Referring to Figure 1, it is schematically shown that automatic vending machine of the invention, including cabinet body 1, outloading mechanism and picking machine
Structure, cabinet body 1 have output port 11 and shelf 12, and shelf 12 take out for putting goods for sale, output port 11 for user
The commodity of purchase are paid, outloading mechanism includes the output port door-plate 2 for opening and closing output port 11 and is right against output port
The shopping cart 3 of 11 settings, picking mechanism includes transfer mechanism 40 and mechanical arm assembly 50, which is slidably connected to
On transfer mechanism 40 and for grabbing commodity, commodity for being transported in shopping cart 3 by picking mechanism from shelf 12.
Based on the automatic vending machine of above-mentioned technical characteristic, workflow are as follows: under normal condition, output port door-plate 2 is closed,
Output port 11 is blocked, commodity are located on shelf 12, and when there is user to need to buy commodity, user (can in operation interface
To understand, operation interface can for the operator control panel on vending machine or use cell phone system interface) on picking commodities, user chooses
Delivery operation is carried out after choosing commodity, after completing delivery operation, control circuit control transfer mechanism 40 is moved to selected by user
Before the commodity selected, the commodity on the crawl shelf 12 of mechanical arm assembly 50 are then controlled, after mechanical arm assembly 50 grabs commodity, are moved
Sending mechanism 40 to drive holds the mechanical arm assemblies 50 of selected commodity and is moved at shopping cart 3, and then mechanical arm assembly 50 is by quotient
Product are put into shopping cart 3, at this point, transfer mechanism 40 will continue to drive manipulator if choose commodity not only one of user
Component 50 is moved to next commodity position, then repeats above-mentioned process and grabs commodity to shopping cart 3, works as user
After all commodity chosen are placed into shopping cart 3, shopping cart 3 is mobile to the output port 11 of its face, when moving close to shipment
When the position of mouth 11, output port door-plate 2 is opened, and user is taken out commodity by output port 11 from shopping cart 3, then shipment
Mouth door-plate 2 is closed, and shopping cart 3 restores standby mode, is waited next user to buy commodity and is used.
In this way, in automatic vending machine work of the invention, pass through mechanical arm assembly 50 grab commodity and carry it to
In shopping cart 3, fall the mode of shipment instead of traditional vending machine, commodity can be effectively prevented and damaged in falling process
Bad problem enriches the type of merchandize that automatic vending machine can be sold, separately but also vending machine can sell frangible commodity
Outside, this also avoids the card goods phenomenon falling shipment mode and be easy to causeing, the reliability of vending machine is improved.Meanwhile this is automatic
Vending machine is grabbed commodity by mechanical arm assembly 50 to shopping cart 3 piece by piece, and then user disposably takes out from shopping cart 3
The mode of all purchased items, but also the automatic vending machine person of being adapted for use with once selects more than one piece commodity, without piece by piece
Commodity select, pay, picking, so simplify operating process, improve work efficiency and usage experience.
Specifically, Fig. 2 is referred to, transfer mechanism 40 includes vertically arranged Y-axis component 41 and is horizontally disposed with and is installed on Y
And can be with respect to the X-axis component 42 of 41 upper and lower translation of Y-axis component on shaft assembly 41, Y-axis component 41 is including Y-axis frame 411 and is set to Y
On axis frame 411 and for making X-axis component 42 realize that the first sliding component of upper and lower translation, X-axis component 42 include X-axis frame
421, on X-axis frame 421 and for making mechanical arm assembly 50 realize the second sliding component of left and right translation, Y-axis component 41
Position setting be adapted with the positions of vending machine bottom shelf 12 and the position of top shelf 12, the length of X-axis frame 421
Degree is not shorter than the width of shelf 12, in this way, mechanical arm assembly 50 can be horizontal horizontal along X-axis component 42 by the second sliding component
Move, X-axis component 42 can be moved up and down in Y-axis by the first sliding component, thus realize mechanical arm assembly 50 can horizontal and
It is moved freely on vertical direction, flexibly and easily to grab the commodity being placed on shelf 12.
First sliding component includes vertically arranged first ball screw 412, the first sliding rail 413 and first ball screw
412 rotation connections and the y-axis motor 414 for driving the upper and lower translation on the first sliding rail 413 of X-axis component 42,42 spiral shell of X-axis component
It is connected to first ball screw 412 and is slidably connected to the first sliding rail 413, when y-axis motor 414 drives 412 turns of first ball screw
When dynamic, first ball screw 412 drives X-axis component 42 accurately to reach height and position locating for specified shelf 12.Second sliding
Component include horizontally disposed second ball-screw 422, the second sliding rail 423, with the second ball-screw 422 be rotatablely connected and be used for
The X-axis motor 424 of the left and right translation on the second sliding rail 423 of mechanical arm assembly 50 is driven, mechanical arm assembly 50 is bolted in the second rolling
Ballscrew 422 is simultaneously slidably connected to the second sliding rail 423, and X-axis motor 424 can be by manipulator group by the second ball-screw 422
Part 50 is quickly and accurately sent to the position of specified commodity.Due to using ball-screw and sliding rail, mechanical arm assembly 50 can be fast
Speed is accurately sent to designated position, and the efficiency of crawl commodity is improved.
Fig. 3 is referred to, mechanical arm assembly 50 includes bottom plate 51, the articles holding table 52 being slidably connected on bottom plate 51, sliding company
It is connected to bottom plate 51 and positioned at the manipulator 53 for being used to grab commodity of 52 top of articles holding table and for the movement of driving manipulator 53
First driving device 54, and articles holding table 52 slides in the same direction with manipulator 53, articles holding table 52 along bottom plate 51 slide into
After cargo path docking on shelf 12, mechanical arm assembly 50 grabs the commodity in cargo path and is placed on articles holding table 52.
Specifically, the side of articles holding table 52, which is equipped with, is driven cooperation with 53 gap of manipulator and for sliding manipulator 53
The gap transmission component 55 that the leading portion in path drives articles holding table 52 to slide together, manipulator 53 include being slidably connected on bottom plate 51
Sliding platform 531, perpendicular to sliding platform 531 glide direction and be installed on sliding platform 531 arm slide rails 532,
The first mechanical arm 533 and the second machine for being slidably connected to arm slide rails 532 and being arranged side by side along 532 length direction of arm slide rails
Tool arm 534, the power device 535 for driving the first mechanical arm 533 and the second mechanical arm 534 to slide, power dress
535 are set using motor.
When mechanical arm assembly 50 works, reached immediately ahead of the commodity for needing to grab under the drive of above-mentioned transfer mechanism 40,
54 driving manipulator 53 of first driving device is moved to commodity, and manipulator 53 drives articles holding table 52 1 by gap transmission component 55
Play forward slip, when articles holding table 52 close to the front end to shelf 12 and with shelf 12 to connecting after, articles holding table 52 stops sliding, machine
Tool hand 53 then continues forward slip to commodity present position, and then power device 535 controls the first mechanical arm 533 and the second machine
Tool arm 534 is moved toward one another along arm slide rails 532, and the first mechanical arm 533 and the second mechanical arm 534 clamp commodity,
To realize the crawl of commodity；After grabbing commodity, former road is carried out with opposite movement and is withdrawn, i.e., manipulator 53 is first toward return
Dynamic, after the commodity grabbed are transferred on articles holding table 52 by manipulator 53, manipulator 53 drives articles holding table 52 together back again
It is moved to initial position, then passes through transfer mechanism 40 by the commodity transporting grabbed at shopping cart 3, power device 535
It controls the first mechanical arm 533 and the second mechanical arm 534 is moved along arm slide rails 532 to two sides, unclamp the commodity of clamping, it will
It is put into shopping cart 3, takes away convenient for user.In this way, passing through the cooperation of manipulator 53, articles holding table 52 and gap transmission component 55
Movement, can be realized and actively grab commodity, avoid the picking mode for falling shipment, to reduce the impaired risk of commodity, thus suitable
Selling for more category commodity is answered, and then can effectively reduce shipment failure rate.
On the basis of above structure, referring to Fig. 3 to Fig. 5, the power output end of first driving device 54 is connected with synchronization
Band 541, first driving device 54 use motor, and the bottom of sliding platform 531 is equipped with the grip block 5311 across articles holding table 52, folder
The two sides that block 5311 is held on the wherein side belt of synchronous belt 541 are held, in this way, the output shaft rotation of motor drives synchronous belt 541
Rotation drives sliding platform 531 to follow synchronous by the frictional force between grip block 5311 and 541 side belt of synchronous belt
Band 541 is mobile.Specifically, gap transmission component 55 includes the first rack gear 551 for being fixedly connected on 531 bottom of sliding platform, consolidates
Surely it is connected to articles holding table 52 and is located at the second rack gear 552 of 551 lower section of the first rack gear and is articulated in the first driving cog of bottom plate 51
Wheel 553, and the first rack gear 551 and the second rack gear 552 are engaged with the first transmission gear 553.Importantly, the first rack gear
551 length for being shorter in length than the second rack gear 552, in this way, driving 531 forward slip of sliding platform in first driving device 54
When, it only could be by the first driving cog when the tooth socket of the first rack gear 551 is engaged with the first transmission gear 553 to be contacted
Wheel 553 drives the second rack gear 552 mobile, so that the articles holding table 52 being fixedly connected with the second rack gear 552 also forward slip is driven, by
It is shorter than the length of the second rack gear 552 in the length of the first rack gear 551, when sliding platform 531 drives articles holding table 52 together to advancing slip
After dynamic a distance, since the first rack gear 551 and the first transmission gear 553 are disengaged and are driven, so that articles holding table 52 stops sliding, and
Sliding platform 531 continues alone forward slip, in order to the first mechanical arm 533 and the second manipulator on sliding platform 531
Arm 534 grabs the commodity on shelf 12 in cargo path, thus, it can be achieved that first driving device 54 is driven the gap of articles holding table 52.
In the present embodiment, power device 535 is to be installed on 534 rear end of the first mechanical arm 533 and the second mechanical arm
Motor, sliding platform 531, which is equipped with, is parallel to the third rack gears (being blocked in figure) of arm slide rails 532, two motors it is defeated
Shaft is respectively connected with the second transmission gear (being blocked in figure) being meshed with third rack gear, after motor action, respectively drives
The engaged transmission on third rack gear of the second transmission gear thereon, to realize the first mechanical arm 533 and the second mechanical arm
534 slide at left and right sides of arm slide rails 532, when the first mechanical arm 533 and the second mechanical arm 534 are close to each other/remote
From when, can flexibly clamp/put down commodity.
It as preferred embodiment, refers to shown in Fig. 6 and Fig. 7, shopping cart 3 is slidingly disposed at shelf 12, shopping
It is equipped in vehicle 3 for detecting whether there is or not the detection device of commodity 31 in shopping cart 3, outloading mechanism further includes set on the interior of output port 11
Side and for drive output port door-plate 2 the second driving device 21, for drive shopping cart 3 along shelf 12 to output port 11 slide
Third driving device 32.In this way, when detection device 31 detects that the commodity of crawl are all put into shopping by mechanical arm assembly 50
After in vehicle 3, third driving device 32 drives shopping cart 3 mobile to output port 11, and when shopping cart 3 is close to output port 11, second is driven
Dynamic device 21 drives output port door-plate 2 to open, and takes the commodity of purchase away out of shopping cart 3 by output port 11 convenient for user.
After detection device 31 detects that user takes commodity away, the second driving device 21 drives output port door-plate 2 to close, third driving dress
Set 32 driving shopping cart, 3 correcting action.It is moved at output port 11 in this way, shopping cart 3 loads commodity, is convenient for user
Take commodity away, output port door-plate 2 is controlled by the second driving device 21 and is opened and closed, and without being opened manually, whole process is very convenient, and
The problem of being easy clamp hand when pushing output port door-plate 2 open manually using traditional vending machine is avoided, more securely and reliably.
More specifically, shown in Figure 8, shelf 12 include chassis 121, pallet 122, driving assembly 123, crawler belt group
Part 124, side dam assemblies 125, lagging component 126, pallet 122 are removably mounted on chassis 121, driving assembly 123
It is removably mounted on pallet 122, track assembly 124 is connected by power with driving assembly 123, and side dam assemblies 125 are detachable
Ground is mounted on 124 two sides of track assembly, fast assembling-disassembling when maintenance convenient for safeguarding, at the same time it can also by removing part side baffle
Component 125 makes adjacent track assembly 124 be spliced into the cargo path of different in width (between adjacent two pieces of side dam assemblies 125
Region), to meet the needs of putting different cultivars commodity.Track assembly 124 is connected by power with driving assembly 123, to be vended
Commodity are placed on track assembly 124, and side dam assemblies 125 are installed on the two sides of track assembly 124 to play support commodity
Effect prevents commodity from tilting or falling from crawler belt, and lagging component 126 is installed on track assembly 124, works as track assembly
After the selected acquisition of the commodity of forefront is walked on 124, driving assembly 123 drives track assembly 124 to move, and lagging component 126 exists
Track assembly 124 drives the commodity on lower promotion track assembly 124 to translate forward, and next commodity is made to be moved to track assembly
124 forefront grabs convenient for manipulator 53.
As preferred embodiment, referring again to shown in Fig. 3 and Fig. 4, the first mechanical arm 533 and the second mechanical arm
534 are equipped with for detecting the pressure sensor 536 for getting commodity, and when manipulator 53 grabs commodity, pressure sensor 536 incudes
When to the first mechanical arm 533 and the second mechanical arm 534 enough to the clamping force of commodity, it is connect to power device 535
Control circuit issue signal, so that power device 535 is stopped working, the first mechanical arm 533 and the second mechanical arm 534 stop
It is mobile, to ensure that manipulator 53 is moderate to the clamping force of commodity, prevents the excessive damaged merchandise of dynamics or dynamics is too small to press from both sides
Tight commodity.Mechanical arm assembly 50 further includes vacuum pump 56, and the end of the first mechanical arm 533 and the second mechanical arm 534 is all provided with
There is the sucker 57 connecting with vacuum pump 56, when client buys goods as flexible package commodity, by sucker 57 to flexible package quotient
Product are drawn, to improve the acquisition efficiency that mechanical arm assembly 50 obtains such commodity, expand the category that can be sold goods.
It is shown in Figure 9 the present invention also provides a kind of combined type vending machine, the combined type vending machine packet
Host 6 and subsidiary engine 7 are included, host 6 and subsidiary engine 7 are the automatic vending machine in above-described embodiment, and the front door 13 of 6 cabinet body 1 of host is set
It is equipped with touch screen 14, touch screen 14 is connected with the control circuit of host 6, as human-computer interaction interface, chooses convenient for user
Commodity.The position of touch screen 14 is set to the top at front door 13, and the output port 11 of host 6 and the output port 11 of subsidiary engine 7 are set to cabinet
The middle part at the front door 13 of body 1 is adapted with ordinary people's height, takes out convenient for user's operation touch-screen 14 and by output port 11
The commodity of purchase avoid user and need to bend over to take commodity away, to improve user experience.
Preferably, the two sides of host 6 are respectively arranged with subsidiary engine 7, before the output port 11 of subsidiary engine 7 is set to the cabinet body 1 of subsidiary engine 7
13 middle part of door is set to the lower section of touch screen 14 close to the side of host 6, the output port 11 of host 6, in this way, can enhance combined type certainly
The aesthetic appearance and stylishness of dynamic vending machine.Because automatic vending machine provided in an embodiment of the present invention can achieve said effect, match
It is equipped with the combined type vending machine for receiving machine automatically and also answers with the corresponding technical effect, details are not described herein.
In conclusion automatic vending machine and combined type vending machine of the invention, pass through outloading mechanism and picking mechanism
Cooperation, can replace and fall the picking mode of shipment at present, use failure rate to reduce, be suitable for selling the quotient of different categories
Product need, additionally it is possible to commodity needed for realizing disposable purchase more than one piece client save client's time, promote user experience, have compared with
Highland popularization and application foreground.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and replacement can also be made, these are improved and replacement
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of automatic vending machine characterized by comprising
Cabinet body, the cabinet body have output port, shelf；
Outloading mechanism, the outloading mechanism include the output port door-plate for opening and closing the output port and are right against described
The shopping cart of output port setting；
For commodity to be transported to the picking mechanism in the shopping cart from the shelf, the picking mechanism includes transfer mechanism
With the mechanical arm assembly for being slidably connected on the transfer mechanism and be used to grab commodity.
2. automatic vending machine according to claim 1, which is characterized in that the transfer mechanism includes vertically arranged Y-axis
Component and it is horizontally disposed and be installed on the Y-axis component and can the relatively described Y-axis component upper and lower translation X-axis component；
The Y-axis component includes Y-axis frame and on the Y-axis frame and for making the X-axis component realize upper and lower translation
The first sliding component, the X-axis component includes X-axis frame, on the X-axis frame and for making the mechanical arm assembly
Realize the second sliding component of left and right translation.
3. automatic vending machine according to claim 1, which is characterized in that the mechanical arm assembly includes bottom plate, sliding company
The articles holding table that is connected on the bottom plate, be slidably connected to the bottom plate and be located above the articles holding table for grabbing commodity
Manipulator and first driving device for driving the robot movement；The articles holding table and the manipulator are in the same direction
Sliding, the articles holding table slides into along the bottom plate dock with the cargo path on shelf after, the mechanical arm assembly grabs in cargo path
Commodity and be placed on the articles holding table.
4. automatic vending machine according to claim 1, which is characterized in that the shopping cart is slidingly disposed at the goods
Frame, the shopping cart is interior to be equipped with for detecting the detection device in shopping cart whether there is or not commodity；The outloading mechanism further includes being set to
The inside of the output port and for driving the second driving device of the output port door-plate, for driving the shopping cart along institute
State the third driving device that shelf are slided to the output port.
5. automatic vending machine according to any one of claims 1 to 4, which is characterized in that the shelf include chassis, removable
Be mounted on the pallet on the chassis with unloading, on the pallet and can with the pallet realize fast assembling-disassembling driving group
Part, the track assembly being connected by power with the driving component, the side block board group for being removably installed in the track assembly two sides
Part, the lagging component being installed on the track assembly.
6. automatic vending machine according to claim 2, which is characterized in that first sliding component includes vertically arranged
First ball screw, the first sliding rail, with first ball screw rotation connection and for driving the X-axis component described the
The y-axis motor of upper and lower translation on one sliding rail；Second sliding component includes horizontally disposed second ball-screw, the second cunning
Rail is connect and for driving mechanical arm assembly left and right translation on second sliding rail with second ball screw turns
X-axis motor.
7. automatic vending machine according to claim 3, which is characterized in that the side of the articles holding table is equipped with and the machinery
The transmission of hand gap cooperates and for making the manipulator in the gap that the leading portion of sliding path drives the articles holding table to slide together
Transmission component；
The manipulator includes the sliding platform being slidably connected on the bottom plate, perpendicular to the glide direction of the sliding platform
And be installed on the sliding platform arm slide rails, be slidably connected to the arm slide rails and along the arm slide rails length side
To the first mechanical arm and the second mechanical arm being arranged side by side, for driving first mechanical arm and second machinery
The power device of arm sliding.
8. automatic vending machine according to claim 7, which is characterized in that first mechanical arm and second machinery
Arm is equipped with for detecting the pressure sensor for getting commodity；The mechanical arm assembly further includes vacuum pump, first machine
The end of tool arm and second mechanical arm is equipped with the sucker connecting with the vacuum pump；
The power output end of the first driving device is connected with synchronous belt, and the bottom of the sliding platform is equipped with sets across described
The grip block of object platform, the grip block are held on the two sides of the synchronous belt wherein side belt；
The gap transmission component includes the first rack gear for being fixedly connected on the sliding platform bottom, is fixedly connected on described set
Object platform and the second rack gear being located at below first rack gear and the first transmission gear for being articulated in the bottom plate, first tooth
The length for being shorter in length than second rack gear of item, and first rack gear and second rack gear are driven with described first
Gear engagement.
9. a kind of combined type vending machine, which is characterized in that described including host and the subsidiary engine being set side by side with the host
Host and the subsidiary engine are automatic vending machine as claimed in any one of claims 1 to 8, and on the front door of the cabinet body of the host
It is provided with touch screen, the touch screen is connected with the control circuit of the host；The output port of the host and the subsidiary engine
Output port be set to cabinet body front door middle part.
10. combined type vending machine according to claim 9, which is characterized in that the two sides of the host are respectively set
There is the subsidiary engine, the output port of the subsidiary engine is set to the side in the middle part of the front door of cabinet body and close to the host.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811028609.4A CN109243060A (en) | 2018-09-04 | 2018-09-04 | A kind of automatic vending machine and combined type vending machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811028609.4A CN109243060A (en) | 2018-09-04 | 2018-09-04 | A kind of automatic vending machine and combined type vending machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109243060A true CN109243060A (en) | 2019-01-18 |
Family
ID=65067299
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811028609.4A Pending CN109243060A (en) | 2018-09-04 | 2018-09-04 | A kind of automatic vending machine and combined type vending machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109243060A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110232771A (en) * | 2019-04-18 | 2019-09-13 | 北京维朋科技有限公司 | A kind of self-service device and method |
| CN110335414A (en) * | 2019-05-09 | 2019-10-15 | 北京云迹科技有限公司 | A kind of pallet piling up method, shipment system, shipment device, equipment and the medium out of Intelligent cargo cabinet |
| CN110349331A (en) * | 2019-07-11 | 2019-10-18 | 浩科机器人（苏州）有限公司 | A kind of automatic vending machine |
| CN110547629A (en) * | 2019-09-24 | 2019-12-10 | 福州众柜网络科技有限公司 | Lifting device of vending machine |
| CN110580770A (en) * | 2019-07-22 | 2019-12-17 | 丹顶鹤智能科技(江苏)有限公司 | Automatic vending machine with middle article taking opening |
| CN110751776A (en) * | 2019-09-30 | 2020-02-04 | 宁波万金现代钣金有限公司 | Goods taking method of intelligent vending machine |
| CN110827470A (en) * | 2019-11-14 | 2020-02-21 | 建湖联众智慧科技有限公司 | Environment-friendly full-automatic integrated vending cabinet and system |
| CN110910569A (en) * | 2019-12-10 | 2020-03-24 | 广州翌日动漫设计有限公司 | Commodity storage device for vending machine and use method thereof |
| CN111185912A (en) * | 2020-03-11 | 2020-05-22 | 北京博研盛科科技有限公司 | Mechanical arm medicine cabinet based on visual identification |
| CN112037419A (en) * | 2020-09-14 | 2020-12-04 | 上海玮顺网络科技有限公司 | Automatic vending machine is with taking track shopping cart shipment device certainly |
| CN112309037A (en) * | 2019-08-01 | 2021-02-02 | 天津物网科技有限公司 | Goods taking and conveying device of vending machine |
| CN112967447A (en) * | 2021-01-30 | 2021-06-15 | 上海玮顺网络科技有限公司 | Shopping cart anti-collision shipment system based on vending machine |
| US20210278126A1 (en) * | 2020-03-06 | 2021-09-09 | InTunes Products, LLC | Methods, systems and apparatus for remote diagnostics and control of robot |
| CN115092585A (en) * | 2022-07-14 | 2022-09-23 | 盐城茂源恒智能科技有限公司 | Intelligent warehouse access system based on logistics |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104332098A (en) * | 2014-11-04 | 2015-02-04 | 北京理工大学 | Comprehensive experiment table of cam |
| CN104392546A (en) * | 2014-10-23 | 2015-03-04 | 王虓栋 | Pickup mechanism and vending machine |
| CN105474279A (en) * | 2013-11-14 | 2016-04-06 | 富士电机株式会社 | Merchandise dispensing device |
| CN106271803A (en) * | 2015-05-20 | 2017-01-04 | 崴立机电（苏州）有限公司 | Rack-and-pinion is without backlash drive mechanism and double servo digital control lathes of application thereof |
| CN106652193A (en) * | 2016-12-22 | 2017-05-10 | 严福英 | Selling cabinet access device |
| CN107016790A (en) * | 2017-04-18 | 2017-08-04 | 上海机商实业有限公司 | A kind of article carrying apparatus and vending machine |
| CN206649595U (en) * | 2017-04-10 | 2017-11-17 | 广州联业商用机器人科技股份有限公司 | Intelligent vending machine and its door opening/closing apparatus |
| CN107366724A (en) * | 2017-09-13 | 2017-11-21 | 长沙学院 | A kind of gapless floating gear rack gearing |
| CN107798776A (en) * | 2017-11-30 | 2018-03-13 | 成都美上美电子商务有限公司 | A kind of electromagnetic location high efficiency o2o automatic vending machines |
| CN108045825A (en) * | 2018-01-18 | 2018-05-18 | 合肥工业大学 | A kind of rotatable load bed shuttle for carrying manipulator |
| 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 |
| CN109166237A (en) * | 2018-08-20 | 2019-01-08 | 南京甘时智能科技有限公司 | A kind of automatic vending machine picking mechanism |
| CN208922379U (en) * | 2018-09-04 | 2019-05-31 | 广州甘来信息科技有限公司 | A kind of automatic vending machine and combined type vending machine |
-
2018
- 2018-09-04 CN CN201811028609.4A patent/CN109243060A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105474279A (en) * | 2013-11-14 | 2016-04-06 | 富士电机株式会社 | Merchandise dispensing device |
| CN104392546A (en) * | 2014-10-23 | 2015-03-04 | 王虓栋 | Pickup mechanism and vending machine |
| CN104332098A (en) * | 2014-11-04 | 2015-02-04 | 北京理工大学 | Comprehensive experiment table of cam |
| CN106271803A (en) * | 2015-05-20 | 2017-01-04 | 崴立机电（苏州）有限公司 | Rack-and-pinion is without backlash drive mechanism and double servo digital control lathes of application thereof |
| CN106652193A (en) * | 2016-12-22 | 2017-05-10 | 严福英 | Selling cabinet access device |
| CN206649595U (en) * | 2017-04-10 | 2017-11-17 | 广州联业商用机器人科技股份有限公司 | Intelligent vending machine and its door opening/closing apparatus |
| CN107016790A (en) * | 2017-04-18 | 2017-08-04 | 上海机商实业有限公司 | A kind of article carrying apparatus and vending machine |
| CN107366724A (en) * | 2017-09-13 | 2017-11-21 | 长沙学院 | A kind of gapless floating gear rack gearing |
| CN107798776A (en) * | 2017-11-30 | 2018-03-13 | 成都美上美电子商务有限公司 | A kind of electromagnetic location high efficiency o2o automatic vending machines |
| CN108045825A (en) * | 2018-01-18 | 2018-05-18 | 合肥工业大学 | A kind of rotatable load bed shuttle for carrying manipulator |
| 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 |
| CN109166237A (en) * | 2018-08-20 | 2019-01-08 | 南京甘时智能科技有限公司 | A kind of automatic vending machine picking mechanism |
| CN208922379U (en) * | 2018-09-04 | 2019-05-31 | 广州甘来信息科技有限公司 | A kind of automatic vending machine and combined type vending machine |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110232771A (en) * | 2019-04-18 | 2019-09-13 | 北京维朋科技有限公司 | A kind of self-service device and method |
| CN110335414A (en) * | 2019-05-09 | 2019-10-15 | 北京云迹科技有限公司 | A kind of pallet piling up method, shipment system, shipment device, equipment and the medium out of Intelligent cargo cabinet |
| CN110349331A (en) * | 2019-07-11 | 2019-10-18 | 浩科机器人（苏州）有限公司 | A kind of automatic vending machine |
| CN110580770A (en) * | 2019-07-22 | 2019-12-17 | 丹顶鹤智能科技(江苏)有限公司 | Automatic vending machine with middle article taking opening |
| CN110580770B (en) * | 2019-07-22 | 2024-05-03 | 丹顶鹤智能科技(江苏)有限公司 | Vending machine with middle article taking opening |
| CN112309037A (en) * | 2019-08-01 | 2021-02-02 | 天津物网科技有限公司 | Goods taking and conveying device of vending machine |
| CN110547629A (en) * | 2019-09-24 | 2019-12-10 | 福州众柜网络科技有限公司 | Lifting device of vending machine |
| CN110751776A (en) * | 2019-09-30 | 2020-02-04 | 宁波万金现代钣金有限公司 | Goods taking method of intelligent vending machine |
| CN110751776B (en) * | 2019-09-30 | 2022-03-25 | 宁波万金现代钣金有限公司 | Goods taking method of intelligent vending machine |
| CN110827470A (en) * | 2019-11-14 | 2020-02-21 | 建湖联众智慧科技有限公司 | Environment-friendly full-automatic integrated vending cabinet and system |
| CN110827470B (en) * | 2019-11-14 | 2021-11-30 | 上海云智贩软件技术有限公司 | Environment-friendly full-automatic integrated vending cabinet and system |
| CN110910569A (en) * | 2019-12-10 | 2020-03-24 | 广州翌日动漫设计有限公司 | Commodity storage device for vending machine and use method thereof |
| US20210278126A1 (en) * | 2020-03-06 | 2021-09-09 | InTunes Products, LLC | Methods, systems and apparatus for remote diagnostics and control of robot |
| CN111185912A (en) * | 2020-03-11 | 2020-05-22 | 北京博研盛科科技有限公司 | Mechanical arm medicine cabinet based on visual identification |
| CN112037419A (en) * | 2020-09-14 | 2020-12-04 | 上海玮顺网络科技有限公司 | Automatic vending machine is with taking track shopping cart shipment device certainly |
| CN112967447A (en) * | 2021-01-30 | 2021-06-15 | 上海玮顺网络科技有限公司 | Shopping cart anti-collision shipment system based on vending machine |
| CN115092585A (en) * | 2022-07-14 | 2022-09-23 | 盐城茂源恒智能科技有限公司 | Intelligent warehouse access system based on logistics |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109243060A (en) | A kind of automatic vending machine and combined type vending machine | |
| CN208922379U (en) | A kind of automatic vending machine and combined type vending machine | |
| CN106485834A (en) | Automatic vending machine | |
| CN206179102U (en) | Vending machine | |
| CN109523705A (en) | A kind of general merchandise class article dispenser | |
| CN108074341B (en) | Commodity storage mechanism of automatic vending machine and shipment device of commodity storage mechanism | |
| CN109448241A (en) | Vending Machine | |
| CN110310422B (en) | Automatic dish machine is sold in automation of automatic bagging-off | |
| CN216053185U (en) | Meal beverage integral type vending machine | |
| CN110009809A (en) | A kind of linkage shipment cargo path of automatic vending machine | |
| CN110009808A (en) | A kind of shipment limiting ejection mechanism of automatic vending machine | |
| CN110473355A (en) | One kind is self-service to sell control method | |
| CN109166237A (en) | A kind of automatic vending machine picking mechanism | |
| CN206179103U (en) | Automatic machine of selling goods | |
| CN108147018A (en) | Equipment is stored up in innoxious refrigeration | |
| CN208335351U (en) | A kind of packaged type picking mechanism | |
| CN105678902B (en) | A kind of goods holding device of automatic vending machine | |
| CN112124835A (en) | Medicine dispensing machine convenient to go out medicine | |
| CN205621155U (en) | Automatic control system of vending machine | |
| CN209312147U (en) | A kind of general merchandise class article dispenser | |
| CN108806080A (en) | A kind of automatic vending machine and its outloading mechanism | |
| CN110329797A (en) | A kind of intelligent commodity clearing cabinet and commodity settlement method based on Internet of Things | |
| CN206601753U (en) | The fixed point for trying vending machine on for self-service shoes orients shipment device | |
| CN216286875U (en) | A goods way platform butt-joint structural and vending machine for vending machine | |
| CN109816879A (en) | A kind of food selling device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |