CN109377651A - A kind of goods taking device of automatic vending machine three-dimensional mechanical hand - Google Patents
A kind of goods taking device of automatic vending machine three-dimensional mechanical hand Download PDFInfo
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- CN109377651A CN109377651A CN201811324589.5A CN201811324589A CN109377651A CN 109377651 A CN109377651 A CN 109377651A CN 201811324589 A CN201811324589 A CN 201811324589A CN 109377651 A CN109377651 A CN 109377651A
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Classifications
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
- G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
- G07F11/16—Delivery means
- G07F11/165—Delivery means using xyz-picker or multi-dimensional article picking arrangements
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- Vending Machines For Individual Products (AREA)
Abstract
The present invention is suitable for goods taking device technical field, provide a kind of goods taking device of automatic vending machine three-dimensional mechanical hand, including door frame, shifting apparatus is provided on door frame, shifting apparatus drives the movement done in x-axis direction on door frame by the first driving mechanism, it is provided on shifting apparatus and takes object basket, object basket is taken to do the movement on z-axis direction on shifting apparatus by the driving of the second driving mechanism, it takes and is provided with grating inductor in object basket, it takes object basket two sides to be provided with and takes object door and out object door, it takes to be provided on object basket bottom plate and unloads object component, unloading object component includes mounting plate, third motor and the first photoelectric sensor are fixedly installed on mounting plate, master gear is fixed on third motor output shaft, master gear is rotated by third motor driven, it unloads object component and the movement done on y-axis direction on taking object basket is driven by third driving mechanism, invention increases The cargo range that can be bought, and multiple cargos can be once taken, increase the convenience that cargo is bought on automatic vending machine.
Description
Technical field
The invention belongs to goods taking device technical fields more particularly to a kind of picking of automatic vending machine three-dimensional mechanical hand to fill
It sets.
Background technique
Automatic vending machine is the machine that goods can be paid automatically according to the coin of investment；Dynamic vending machine is the common of business automation
Equipment, it is not limited by time, place, can be saved manpower, be facilitated transaction.It is a kind of completely new retailing form, and quilt
The referred to as micro supermarket of 24 HOUR ACCESS；The cargo of machine is directly to fall to take from shelf mostly after automatic selling currently on the market
At object mouth, such automatic vending machine can not buy frangible article, such as the article of glass bottle packaging, can put into
The cargo limitation of vending purchasing is big；And the automatic vending machine with goods taking device generally also can only once take a goods
Object.
Summary of the invention
The present invention provides a kind of goods taking device of automatic vending machine three-dimensional mechanical hand, it is intended to solve current automatic vending machine goods
Object limitation is big, the problem of once taking a cargo.
The invention is realized in this way a kind of goods taking device of automatic vending machine three-dimensional mechanical hand, including door frame, the door
Shifting apparatus is provided on frame, the shifting apparatus drives the movement done in x-axis direction on door frame, institute by the first driving mechanism
It states the first driving mechanism to be fixed on door frame, is provided on the shifting apparatus and takes object basket, it is described that object basket is taken to be driven by second
The movement on z-axis direction is done in the driving of motivation structure on shifting apparatus, and second driving mechanism is fixed on shifting apparatus,
First driving mechanism and the second driving mechanism are electrically connected controller, and described take is provided with grating inductor in object basket, institute
It states grating inductor and is electrically connected controller, described to take object basket two sides to be provided with to take object door and out object door, the object door and out of taking
Object door takes to be provided on object basket bottom plate and unloads object component respectively by first motor and the second motor driven rotating folding, described to unload object
Component includes mounting plate, is fixedly installed third motor and the first photoelectric sensor on the mounting plate, the third motor and
First photoelectric sensor is electrically connected controller, is fixed with master gear on the third motor output shaft, and the master gear is by the
The rotation of three motor drivens, the object component that unloads is done on taking object basket movement on y-axis direction by the driving of third driving mechanism, described
Third driving mechanism, which is fixed at, to be taken on object basket.
Further, it is provided with the first sliding rail described in the first sliding rail and the first synchronous pulley group on the door frame and shares two
Group is separately positioned in the two sides up and down of door frame；The first synchronous pulley group shares two groups, is separately positioned on the upper and lower of door frame
In two sides；The shifting apparatus upper and lower ends are provided with the first sliding block, and the first sliding block of shifting apparatus upper and lower ends is arranged in
Cooperate respectively with the first sliding rail for being arranged in door frame or more two sides, and shifting apparatus upper and lower ends are respectively with described in two groups first
The synchronous belt of synchronous pulley group is fixedly connected.
Further, first driving mechanism includes the 4th motor and shaft, the 4th electrical connection of motor control
Device processed, the 4th motor are fixed on doorframe, and the shaft is fixed in door frame side by bearing and bearing block, and described
Four motors are connect with rotating shaft transmission, the shaft upper and lower ends active synchronization wheel with the first synchronous pulley group described in two groups respectively
It is fixed.
Further, the second sliding rail and the second synchronous pulley group are provided on the shifting apparatus, it is described to take object basket one
Side is fixedly installed the second sliding block, and second sliding block and the second sliding rail cooperate, object basket and the second synchronous pulley group of taking
Synchronous belt is fixedly connected.
Further, second driving mechanism includes the 5th motor, the 5th electrical connection of motor controller, institute
The 5th electricity is stated to be fixed on shifting apparatus and the second synchronous pulley group that is sequentially connected.
Further, described to take object door and out object door and object basket is taken to be rotatablely connected, the first motor and the second motor
It is fixed to take on object basket bottom plate and be located at and takes object door and out object outer side of door, the first motor output shaft is fixedly connected
Object door is taken, second motor output shaft is fixedly connected with out object door.
Further, described take is provided with the first zero-bit contact induction device and the second zero-bit contact induction on object basket bottom plate
Device, the first zero-bit contact induction device and the second zero-bit contact induction device are electrically connected controller, the first zero-bit contact
Inductor, which is located at, takes object outer side of door, and the second zero-bit contact induction device is located at object outer side of door.
Further, the third driving mechanism includes fixed plate and electric cylinders, and the fixed plate, which is fixed at, takes object
On basket bottom plate, third sliding rail is provided in the fixed plate, the mounting plate bottom is fixedly installed third sliding block, third sliding block
Cooperate with the second sliding block, the electric cylinders are electrically connected controller, and the electric cylinders are fixed in fixed plate and electric cylinders extension end
It is fixedly connected with mounting plate.
Further, the third driving mechanism shares two groups, and third driving mechanism, which is separately fixed at, described in two groups takes
At left and right sides of object basket, the object component that unloads shares two groups, object component is unloaded described in two groups is separately positioned on and take at left and right sides of object basket simultaneously
The movement on y-axis direction is done in the driving of the third driving mechanism as described in two groups respectively on taking object basket.
Beneficial effects of the present invention: a kind of goods taking device of automatic vending machine three-dimensional mechanical hand provided by the invention, picking
Device can be moved to the shelf exit to picking, make that frangible article can be stored on shelf, increase the goods that can be bought
Object range, and multiple cargos can be once taken, increase the convenience of vending purchasing cargo.
Detailed description of the invention
Fig. 1 is a kind of goods taking device first angle schematic diagram of automatic vending machine three-dimensional mechanical hand provided by the invention.
Fig. 2 is a kind of goods taking device second angle schematic diagram of automatic vending machine three-dimensional mechanical hand provided by the invention.
Fig. 3 is that a kind of goods taking device of automatic vending machine three-dimensional mechanical hand provided by the invention removes first angle after door frame
Schematic diagram.
Fig. 4 is enlarged drawing at A in Fig. 3 provided by the invention.
Fig. 5 is that a kind of goods taking device of automatic vending machine three-dimensional mechanical hand provided by the invention removes second angle after door frame
Schematic diagram.
Fig. 6 is third angle schematic diagram after a kind of automatic vending machine goods taking device removal door frame provided by the invention.
Fig. 7 is a kind of automatic vending machine cross-sectional view provided by the invention.
In figure: 100- door frame；The first sliding rail of 110-；120- the first synchronous pulley group；200- shifting apparatus；210- second is sliding
Rail；220- the second synchronous pulley group；300- takes object basket；310- grating inductor；320- takes object door；330- goes out object door；340-
One motor；The second motor of 350-；360- the first zero-bit contact induction device；370- the second zero-bit contact induction device；400- unloads object group
Part；410- mounting plate；420- third motor；The first photoelectric sensor of 430-；440- master gear；The first driving mechanism of 500-；
The 4th motor of 510-；520- shaft；The second driving mechanism of 600-；The 5th motor of 610-；700- third driving mechanism；710- is fixed
Plate；720- electric cylinders.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment one
As shown in Fig. 1-Fig. 7, a kind of goods taking device of automatic vending machine three-dimensional mechanical hand, including door frame 100, door frame 100
On be provided with shifting apparatus 200, shifting apparatus 200 is driven by the first driving mechanism 500 and is done in x-axis direction on door frame 100
Mobile, i.e., under the driving effect of the first driving mechanism 500, shifting apparatus 200 can transverse shifting, the first drive on door frame 100
Motivation structure 500 is fixed on door frame 100, is provided on shifting apparatus 200 and is taken object basket 300, takes object basket 300 by the second driving
Mechanism 600 drives the movement done on z-axis direction on shifting apparatus 200, i.e., under the driving effect of the second driving mechanism 600,
Take object basket 300 that can move radially on shifting apparatus 200, the second driving mechanism 600 is fixed on shifting apparatus 200, the
One driving mechanism 500 and the second driving mechanism 600 are electrically connected controller, and controller is arranged on automatic vending machine (in figure not
Draw), it takes and is provided with grating inductor 310 in object basket 300, grating inductor 310 is electrically connected controller, grating inductor
310, for incuding take in object basket 300 whether have article, take 300 two sides of object basket to be provided with and take object door 320 and out object door 330, take object
Door 320 and out object door 330 drive rotating folding by first motor 340 and the second motor 350 respectively, take and set on 300 bottom plate of object basket
It is equipped with and unloads object component 400, unloading object component 400 includes mounting plate 410, and third motor 420 and the are fixedly installed on mounting plate 410
One photoelectric sensor 430, the first photoelectric sensor 430 are used for the position of precise positioning shelf, third motor 420 and the first photoelectricity
Inductor 430 is electrically connected controller, master gear 440 is fixed on 420 output shaft of third motor, master gear 400 is by third electricity
The driving rotation of machine 420 unloads object component 400 by third driving mechanism 700 and drives the movement done on y-axis direction on taking object basket 300,
I.e. under the driving of third driving mechanism 700, unloading object component 400 can be moved forward and backward on taking object basket 300, third driving mechanism
700 are fixed at and take on object basket 300；Transmission belt, several shelf exits are provided on several shelf of automatic vending machine
It is provided with from gear and the second photoelectric sensor, the second photoelectric sensor and controller are electrically connected, and cargo is placed on conveyer belt
On, the conveyer belt on several shelf is sequentially connected one by one with the slave gear that several shelf exits are arranged in, when master gear 440 with
After gear engagement, under the driving of third motor 420, master gear 440 drives from gear and rotates, to drive the biography on shelf
Dynamic band is rotated to shelf exit, and cargo follows the transmission belt on shelf to be moved to and falls from shelf.
In the present invention, the first sliding rail 110 and the first synchronous pulley group 120 are provided on door frame 100, the first sliding rail 110 is total
There are two groups, is separately positioned in the two sides up and down of door frame 100；First synchronous pulley group 120 shares two groups, is separately positioned on door frame
In 100 two sides up and down；200 upper and lower ends of shifting apparatus are provided with the first sliding block, are arranged in 200 upper and lower ends of shifting apparatus
The first sliding block cooperate respectively with the first sliding rail 110 for being arranged in about 100 two sides of door frame, and shifting apparatus about 200 two
End is fixedly connected with the synchronous belt of two group of first synchronous pulley group 120 respectively, when the first synchronous pulley group 120 works, transfer dress
Setting 200 follows the synchronous belt of the first synchronous pulley group 120 mobile.
In the present invention, the first driving mechanism 500 includes the 4th motor 510 and shaft 520, and the 4th motor 510 is electrically connected
Controller, the 4th motor 510 are fixed on doorframe 100, and shaft 110 is fixed in 100 side of door frame by bearing and bearing block,
4th motor 510 is sequentially connected with shaft 520, the active with two group of first synchronous pulley group 120 respectively of 520 upper and lower ends of shaft
Synchronizing wheel is fixed, and when the 4th motor 510 drives shaft 520 to rotate, shaft 520 drives two group of first synchronous pulley group 120 to work.
In the present invention, it is provided with the second sliding rail 210 and the second synchronous pulley group 220 on shifting apparatus 200, takes object basket 300
Side is fixedly installed the second sliding block, and the second sliding block and the second sliding rail 210 cooperate, and takes object basket 300 and the second synchronous pulley group 220
Synchronous belt be fixedly connected.
In the present invention, the second driving mechanism 600 includes the 5th motor 610, and the 5th motor 610 is electrically connected controller, the
Five motors 610 are fixed on shifting apparatus 200, the 5th motor 610 the second synchronous pulley group 220 of transmission connection, the 5th electricity
Output shaft drives the work of the second synchronous pulley group 220 when machine 610 works.
In the present invention, takes object door 320 and out object door 330 and object basket 300 is taken to be rotatablely connected, first motor 340 and the second electricity
Machine 350, which is fixed to take on 300 bottom plate of object basket and be located at, takes object door 320 and out 330 outside of object door, first motor 340
Output shaft, which is fixedly connected, takes object door 320, and output shaft rotates when first motor 340 works, and takes object door 320 to rotate to drive, the
Two motors, 350 output shaft is fixedly connected with out object door 330, and output shaft rotates when the second motor 350 works, to drive out object door
330 rotations.
In the present invention, takes and be provided with the first zero-bit contact induction device 360 and the second zero-bit contact induction on 300 bottom plate of object basket
Device 370, the first zero-bit contact induction device 360 and the second zero-bit contact induction device 370 are electrically connected controller, the contact of the first zero-bit
Inductor 360, which is located at, takes the outside of object door 320, when object door 320 being taken to be closed, the induction end of the first zero-bit contact induction device 360 with take
Object door 320 contacts, and after taking object door 320 to drive rotating closed by first motor 340, taking the position of object door 320 at this time is zero-bit,
First zero-bit contact induction device 360 sends a signal to controller, and controller controls first motor 340 and keeps locked, that is, keeps not
The state of rotation, until controller assigns next instruction, the second zero-bit contact induction device 370 is located at 330 outside of object door, out
When object door 330 is closed, the induction end of the second zero-bit contact induction device 370 is contacted with object door 330 out, when object door 330 out is by second
Motor 350 drive it is rotating closed after, at this time out the position of object door 330 be zero-bit, the second zero-bit contact induction device 370 send signal
To controller, controller controls the second motor 350 and keeps locked, that is, keeps the state not rotated, until controller assign it is next
A instruction.
In the present invention, third driving mechanism 700 includes fixed plate 710 and electric cylinders 720, and fixed plate 710, which is fixed at, to be taken
On 300 bottom plate of object basket, third sliding rail is provided in fixed plate 710,410 bottom of mounting plate is fixedly installed third sliding block, third
Sliding block and third sliding rail cooperate, and electric cylinders 720 are electrically connected controller, and electric cylinders 720 are fixed in fixed plate 710 and electric cylinders
720 extension ends are fixedly connected with mounting plate 410, and extension end is released when electric cylinders 720 work, to push mounting plate 410 in fixation
It is slided on plate 710.
In the present invention, third driving mechanism 700 shares two groups, and two groups of third driving mechanisms 700, which are separately fixed at, takes object basket
300 left and right sides, unload object component 400 and share two groups, and two groups are unloaded object component 400 and are separately positioned on and take 300 left and right sides of object basket simultaneously
The movement on y-axis direction is done on taking object basket 300 by two groups of drivings of third driving mechanism 700 respectively, setting is taking object basket 300 left
Object component 400 is unloaded for taking the cargo on automatic vending machine upper left portion shelf in side, is arranged in take and unloads object on the right side of object basket 300
Component 400 is used to take the cargo on the upper right part shelf of automatic vending machine.
The working principle of the invention: when any shelf on automatic vending machine need picking object, controller control first is driven
Motivation structure 500 works, and shifting apparatus 200 is made to be moved to the position in specified x-axis direction；Controller controls the second driving mechanism
600 work, make the position for taking object basket 300 to be moved on specified z-axis direction, in taking 300 moving process of object basket, first motor
340 drivings take object door 320 to be rotated outwardly to opening state, are skewed when object door 320 being taken to open and 320 upper end of object door is taken to be located at
On the outside of shelf exit；When object basket 300 being taken to reach at picking object shelf, if the first photoelectric sensor 430 does not exist with setting
Second photoelectric sensor in shelf exit docks, i.e., when the first photoelectric sensor 430 is not sensed by the second photoelectric sensor, then
Controller by the first driving mechanism 500 of control and the second driving mechanism 600 to taking the x of object basket 300, z-axis position to be finely adjusted,
Until the first photoelectric sensor 430 is docked with the second photoelectric sensor that shelf exit is arranged in, the first photoelectric sensor 430
After docking with the second photoelectric sensor that shelf exit is arranged in, electric cylinders 720 are started to work, by extension end by mounting plate
410 are pushed out to master gear 440 engages with the slave gear in shelf exit, and third motor 420 drives master gear 440 to rotate, and passes through
Master gear 440 is engaged with the slave gear in shelf exit, so that shelf be driven to be loaded with the conveyer belt rotation of cargo, makes cargo edge
Take the rolling of object door 320 to fall to and take in object basket 300, and can be made by controlling the rotation of 420 output shaft of third motor same
Fall multiple cargos on shelf, grating inductor 310 sense take in object basket 300 have cargo after send a signal to controller, control
The device control driving of first motor 340 processed takes the rotation of object door 320 to closure, after taking object door 320 to be closed, the first zero-bit contact induction device
360 induction end contacts and sends a signal to controller with object door 320 is taken, and first motor 340 is made to keep locked；Controller passes through
Controlling the first driving mechanism 500 and the second driving mechanism 600 makes that object basket 300 is taken to be moved at the taking mouth of automatic vending machine,
Take object basket 300 into moving process at the taking mouth of automatic vending machine, the second motor 350 drives out object door 330 to rotate outward and beats
It opens, after taking the cargo in object basket 300 to be removed, grating inductor 310, which senses, takes object basket 300 without sending a signal to after cargo
Controller, controller make to take object basket 300 and shifting apparatus 200 mobile by the first driving mechanism 500 and the second driving mechanism 600
To initial position, i.e. zero-bit, in object basket 300 and shifting apparatus 200 into initial position moving process, the second motor 350 is driven
Dynamic object door 330 out is rotating closed, and the induction end of the second zero-bit contact induction device 370 is sent a signal to after contacting with object door 330 out
Controller makes the second motor 350 keep locked.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (9)
1. a kind of goods taking device of automatic vending machine three-dimensional mechanical hand, which is characterized in that including door frame, be provided on the door frame
Shifting apparatus, the shifting apparatus drive the movement done in x-axis direction on door frame, first driving by the first driving mechanism
Mechanism is fixed on door frame, is provided on the shifting apparatus and is taken object basket, described that object basket is taken to be driven by the second driving mechanism
The movement on z-axis direction is done on shifting apparatus, second driving mechanism is fixed on shifting apparatus, and described first drives
Motivation structure and the second driving mechanism are electrically connected controller, and described take is provided with grating inductor in object basket, the grating induction
Device is electrically connected controller, described to take object basket two sides to be provided with to take object door and out object door, it is described take object door and out object door respectively by
First motor and the second motor driven rotating folding take to be provided on object basket bottom plate and unload object component, and the object component that unloads includes peace
Loading board is fixedly installed third motor and the first photoelectric sensor, the third motor and the first light inductance on the mounting plate
It answers device to be electrically connected controller, is fixed with master gear on the third motor output shaft, the master gear is by third motor driven
Rotation, the object component that unloads are done on taking object basket movement on y-axis direction, the third driving machine by the driving of third driving mechanism
Structure, which is fixed at, to be taken on object basket.
2. a kind of goods taking device of automatic vending machine three-dimensional mechanical hand as described in claim 1, which is characterized in that the door frame
On be provided with the first sliding rail described in the first sliding rail and the first synchronous pulley group and share two groups, be separately positioned on the two sides up and down of door frame
It is interior；The first synchronous pulley group shares two groups, is separately positioned in the two sides up and down of door frame；The shifting apparatus upper and lower ends
Be provided with the first sliding block, be arranged in the first sliding block of shifting apparatus upper and lower ends respectively be arranged in door frame or more two sides
The cooperation of first sliding rail, and shifting apparatus upper and lower ends are fixedly connected with the synchronous belt of the first synchronous pulley group described in two groups respectively.
3. a kind of goods taking device of automatic vending machine three-dimensional mechanical hand as claimed in claim 2, which is characterized in that described first
Driving mechanism includes the 4th motor and shaft, the 4th electrical connection of motor controller, and the 4th motor is fixed on doorframe
On, the shaft is fixed in door frame side by bearing and bearing block, and the 4th motor is connect with rotating shaft transmission, and described turn
Active synchronization wheel of the axis upper and lower ends respectively with the first synchronous pulley group described in two groups is fixed.
4. a kind of goods taking device of automatic vending machine three-dimensional mechanical hand as described in claim 1, which is characterized in that the transfer
It is provided with the second sliding rail and the second synchronous pulley group on device, it is described that object basket side is taken to be fixedly installed the second sliding block, described
Two sliding blocks and the second sliding rail cooperate, described that object basket and the synchronous belt of the second synchronous pulley group is taken to be fixedly connected.
5. a kind of goods taking device of automatic vending machine three-dimensional mechanical hand as claimed in claim 4, which is characterized in that described second
Driving mechanism includes the 5th motor, the 5th electrical connection of motor controller, and the 5th electricity is fixed at shifting apparatus
Upper and the second synchronous pulley group of transmission connection.
6. a kind of goods taking device of automatic vending machine three-dimensional mechanical hand as described in claim 1, which is characterized in that described to take object
Door and out object door are rotatablely connected with object basket is taken, and the first motor and the second motor are fixed at and take on object basket bottom plate and distinguish
Positioned at object door and out object outer side of door is taken, the first motor output shaft, which is fixedly connected, takes object door, and second motor output shaft is solid
Object door is connected out calmly.
7. a kind of goods taking device of automatic vending machine three-dimensional mechanical hand as claimed in claim 6, which is characterized in that described to take object
Be provided with the first zero-bit contact induction device and the second zero-bit contact induction device on basket bottom plate, the first zero-bit contact induction device and
Second zero-bit contact induction device is electrically connected controller, and the first zero-bit contact induction device, which is located at, takes object outer side of door, and described the
Two zero-bit contact induction devices are located at object outer side of door.
8. a kind of goods taking device of automatic vending machine three-dimensional mechanical hand as described in claim 1, which is characterized in that the third
Driving mechanism includes fixed plate and electric cylinders, and the fixed plate, which is fixed at, to be taken on object basket bottom plate, is provided in the fixed plate
Third sliding rail, the mounting plate bottom are fixedly installed third sliding block, and third sliding block and the second sliding block cooperate, and the electric cylinders are electrical
Controller is connected, the electric cylinders are fixed in fixed plate and electric cylinders extension end is fixedly connected with mounting plate.
9. a kind of goods taking device of automatic vending machine three-dimensional mechanical hand as claimed in claim 8, which is characterized in that the third
Driving mechanism shares two groups, and third driving mechanism described in two groups, which is separately fixed at, to be taken at left and right sides of object basket, and the object component that unloads is total to
There are two groups, object component is unloaded described in two groups is separately positioned on and take at left and right sides of object basket and the third driving mechanism as described in two groups is driven respectively
Move the movement done on y-axis direction on taking object basket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811324589.5A CN109377651B (en) | 2018-11-08 | 2018-11-08 | Goods taking device of three-dimensional manipulator of vending machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811324589.5A CN109377651B (en) | 2018-11-08 | 2018-11-08 | Goods taking device of three-dimensional manipulator of vending machine |
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| CN109377651A true CN109377651A (en) | 2019-02-22 |
| CN109377651B CN109377651B (en) | 2024-11-05 |
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| CN201811324589.5A Active CN109377651B (en) | 2018-11-08 | 2018-11-08 | Goods taking device of three-dimensional manipulator of vending machine |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110250802A (en) * | 2019-06-21 | 2019-09-20 | 东莞市势为物联网科技有限公司 | A kind of double hook lifting picking mechanism of automatic vending machine |
| CN110459009A (en) * | 2019-09-24 | 2019-11-15 | 福州众柜网络科技有限公司 | The shipment device of automatic vending machine |
| 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 |
| CN112085887A (en) * | 2020-07-30 | 2020-12-15 | 康研机器人（重庆）有限公司 | Intelligent self-service vending machine |
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