CN109949499A - A kind of self-test anti-dropout is self-service to sell equipment - Google Patents
A kind of self-test anti-dropout is self-service to sell equipment Download PDFInfo
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- CN109949499A CN109949499A CN201910307707.XA CN201910307707A CN109949499A CN 109949499 A CN109949499 A CN 109949499A CN 201910307707 A CN201910307707 A CN 201910307707A CN 109949499 A CN109949499 A CN 109949499A
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- 238000012360 testing method Methods 0.000 title claims abstract description 13
- 238000005303 weighing Methods 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 239000003463 adsorbent Substances 0.000 claims description 3
- 238000007710 freezing Methods 0.000 abstract description 5
- 239000000725 suspension Substances 0.000 abstract description 4
- 238000010521 absorption reaction Methods 0.000 abstract description 3
- 235000015243 ice cream Nutrition 0.000 abstract description 3
- 235000012054 meals Nutrition 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 9
- 238000001179 sorption measurement Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000008014 freezing Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000021270 cold food Nutrition 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000002860 competitive effect Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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- Vending Machines For Individual Products (AREA)
Abstract
The present invention provides that a kind of self-test anti-dropout is self-service to sell equipment, vacuum suction system is driven quickly to position absorption commodity using three-axis moving mechanism, it drives suspension cord that can haul vacuum suction system by Z axis bracket to move down, the downward pulling force of vacuum suction system can be detected by being serially connected in the weighing sensor on vacuum suction system top simultaneously, judge whether vacuum suction system touches article by the variation of the downward pulling force of vacuum suction system, it is moved down to stop Z axis bracket, it opens vacuum suction system and article is sucked, it drives suspension cord to haul vacuum suction system by Z axis bracket again to move up, and it moves horizontally and article is placed into picking position, an achievable article, for example ice cream, quick-freezing boiled dumplings, the automatic vending process of the commodity such as quick-frozen packed meal.
Description
Technical field
The invention belongs to the fields of automation technology of robot application and traditional manufacturing technology upgrading, specifically relate to
And a kind of self-test anti-dropout is self-service sells equipment.
Background technique
Currently, self-retailing equipment has been widely used, but the self-retailing equipment market for freezing commodity exists seldom.
The visible automatic vending ice cream cabinet using three axis machines and traditional refrigerator combination and exploitation in the market, although realizing frozen type cold food
The automatic vending of drink has certain market selling points, but to be widely popularized there are still some drawbacks, is mainly reflected in:
1. three axis machines and sucker structure are complicated；
2. wheel shaft cable mechanism-trouble point flexible is more, structure is complicated；
3. individual refrigerator door-opening mechanism is at high cost；
4. occupation area of equipment is big, low efficiency；
5.Z axis moves down whether touch the multiple sensors of article needs.
Summary of the invention
To solve the above problems, the present invention provides, a kind of self-test anti-dropout is self-service to sell equipment, and specific scheme is as follows:
A kind of self-test anti-dropout is self-service to sell equipment comprising shell and the refrigerator being installed in shell, three-axis moving mechanism 4,
Weighing sensor 8, vacuum suction system 7；
The three-axis moving mechanism 4 includes Z axis bracket 401, X-axis bracket 402, Y-axis bracket 403；
The Y-axis bracket 403 includes two vertical support frames for being set up in 1 two sides of refrigerator, is provided with along the y axis on each bracket
The Y-axis sliding rail of setting；
The X-axis bracket 402 is installed on the Y-axis sliding rail of Y-axis bracket 403, can be moved along Y-axis sliding rail；Along X on X-axis bracket 402
Axis direction is provided with X-axis slide rail；
The Z axis bracket 401 is installed in the X-axis slide rail of X-axis bracket 402, can be moved along X-axis slide rail；Pacify on Z axis bracket 401
Equipped with Z axis slide rail;
Being equipped in Z axis slide rail can be along the sliding block 2 that Z axis slide rail moves, and sliding block 2 connects weighing sensor 8 by rope, vacuum is inhaled
Attached system 7；Sliding block 2 can drive weighing sensor 8, vacuum suction system 7 to move up and down by rope；Weighing sensor is detectable
The downward pulling force of vacuum suction system adsorbent article, judges vacuum suction system by the variation of downward pulling force when moving downward
Whether the article of lower part is touched；It can judge whether article falls off by tension variations when adsorbing item motion.
Further, pulley 3 is installed, pulley 3 includes the first pulley 301 being installed on sliding block 2, sliding on Z axis bracket 401
Block 2 can drive first pulley 301 mobile；Rope is wound in first pulley 301, one end of rope is fixed on Z axis, and the other end exists
Around connection vacuum suction system 7 after first pulley 301.
Further, rope one end on pulley 3 is fixed on the upper, middle and lower portion of Z axis bracket 401 or other are opposing stationary
Position；Weighing sensor 8 is fixed on any position on rope at one end of vacuum suction system 7, pulley 3 or among rope
It sets.
Further, the pulley 3 further includes n pulley being connect with first pulley 301 by rope；When about 2 sliding block
It drives first pulley 301 to move up and down when mobile, while driving other pulley rotations, to drive the upper of vacuum suction system
Lower movement, to realize the remote Rapid contact of vacuum suction system 7.
Further, the weighing sensor 8 is one of electronic load cell, mechanical tensile forces sensor.
Further, air pump 1 is also equipped on the Z axis bracket 401, the air pump 1 is fixed on Z axis by fixing card 5,
Vacuum suction system 7 connects air pump 1 by hose 6.
The beneficial effects of the present invention are embodied in:
First: weighing sensor is connected in series to the fixed machine of pulley being connected in the rope of one end connection adsorption system or with rope
In structure, the tension variations of rope are measured by weighing sensor, that is, can determine whether adsorption system touches article, or absorption
Article firmly falls off；
Second: avoiding the somewhat complex design that contact sensor and vacuum sensor are installed in the sucker of vacuum suction system；
Third: three universal axis machines can be applied to this product, shortens the development cycle, saves the whole development expense of system.
Detailed description of the invention
Fig. 1 is schematic perspective view；
Fig. 2 is three-axis moving mechanism and pulley, weighing sensor, vacuum suction system structural front view；
Fig. 3 is 1 middle pulley of embodiment and weighing sensor mounting structure main view；
Fig. 4 is 2 middle pulley of embodiment and weighing sensor mounting structure main view.
Figure label:
1. air pump；Sliding block 2；Pulley 3；Three-axis moving mechanism 4；Z axis bracket 401；X-axis bracket 402；Y-axis bracket 403；Fixing card
5；Hose 6；Vacuum suction system 7；Weighing sensor 8.
Specific embodiment
Below in conjunction with the embodiment of the present invention, technical scheme in the embodiment of the invention is clearly and completely described,
Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based in the present invention
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the scope of protection of the invention.
Referring to Fig.1, Fig. 2, a kind of self-test anti-dropout is self-service to sell equipment comprising shell and is installed on cold in shell
Cabinet, three-axis moving mechanism 4, weighing sensor 8, vacuum suction system 7；
The three-axis moving mechanism 4 includes Z axis bracket 401, X-axis bracket 402, Y-axis bracket 403；
The Y-axis bracket 403 includes two vertical support frames for being set up in 1 two sides of refrigerator, is provided with along the y axis on each bracket
The Y-axis sliding rail of setting；
The X-axis bracket 402 is installed on the Y-axis sliding rail of Y-axis bracket 403, can be moved along Y-axis sliding rail；Along X on X-axis bracket 402
Axis direction is provided with X-axis slide rail；
The Z axis bracket 401 is installed in the X-axis slide rail of X-axis bracket 402, can be moved along X-axis slide rail；Pacify on Z axis bracket 401
Equipped with Z axis slide rail;
Being equipped in Z axis slide rail can be along the sliding block 2 that Z axis slide rail moves, and sliding block 2 connects weighing sensor 8 by rope, vacuum is inhaled
Attached system 7；Sliding block 2 can drive weighing sensor 8, vacuum suction system 7 to move up and down by rope；
The weighing sensor 8 preferably uses one of electronic load cell, mechanical tensile forces sensor.Weighing sensor can
The downward pulling force of vacuum suction system adsorbent article is detected, vacuum suction is judged by the variation of downward pulling force when moving downward
Whether system touches the article of lower part；It can judge whether article falls off by tension variations when adsorbing item motion.
Embodiment 1:
Referring to Fig. 3, first pulley 301 is installed on sliding block 2, the first pulley 301 on three-axis moving mechanism Z axis is mountable in cunning
Left side, front, rear portion, top, bottom or the right side of block.Sliding block 2 can drive first pulley 301 mobile；It is twined in first pulley 301
Around rope, one end of rope is fixed on Z axis, and rope one end on pulley 3 can be fixed on upper, middle and lower portion or other phases of Z axis
To static position.The other end connects vacuum suction system after around first pulley 301；Sliding block band movable pulley moves up and down,
Make the rope on pulley that vacuum suction system 7 be driven to move up and down.Rope one end on pulley 3 is fixed on Z axis bracket 401
Upper, middle and lower portion or other opposing stationary positions；Weighing sensor 8 is fixed on rope close to the one of vacuum suction system 7
End or one end of separate vacuum suction system 7.
Embodiment 2:
Referring to Fig. 4, the pulley 3 further includes being installed on second pulley on Z axis, connecting with first pulley 301 by rope
302；It drives first pulley 301 to move up and down when Z axis sliding block moves up and down, while second pulley 302 being driven to rotate, thus band
Move moving up and down for vacuum suction system.Weighing sensor 8 is fixed on the position among first pulley 301 and second pulley 302
It sets.
It should be noted that the quantity of pulley can be set as needed n, meet the design needs of different trips.
Embodiment 3:
The major function of three-axis moving mechanism be by the corresponding material path of mobile selection of X, Y-axis, by the mobile drive of Z axis around
The mobile absorption commodity of vacuum suction system 7 of the other end of the rope of pulley are crossed, and lift commodity, then pass through the shifting of X, Y-axis
It is dynamic to put down merchandise transfer to access section position；Vacuum suction system 7 is responsible for induction and reaches product locations and send a signal to three
It is mobile that shaft movement mechanism master control system stops Z axis；Air pump 1 is connect by pipeline with vacuum suction system 7, and negative-pressure adsorption quotient is generated
Product；The present invention drives suspension cord that can haul vacuum suction system and moves down by Z axis bracket, while by being serially connected in vacuum
The downward pulling force of vacuum suction system can be detected in the weighing sensor on adsorption system top, is pulled down by vacuum suction system
The variation of power judges whether vacuum suction system touches article, when vacuum suction system touches article, due to article pair
The supporting role of vacuum suction system makes the downward pulling force of vacuum suction system become smaller, therefore determines vacuum suction system and contacted
It to article, is moved down to stop z-axis, opens vacuum suction system and article is sucked, then suspension cord is driven by z-axis bracket
It hauls vacuum suction system to move up, and moves horizontally and article is placed into picking position, an achievable article, for example ice
Swash the automatic vending process of the commodity such as icepro, quick-freezing boiled dumplings, quick-frozen packed meal.
Shell is provided with master board, is mainly responsible for the operation of sensor and the motion control of executing agency；It shows and logical
Unit is interrogated, the displaying of the information such as communication and the payment code with background server is mainly responsible for；Keyboard and indicator light are responsible for user's choosing
The instruction whether commodity to be bought and commodity sell off selected；Shell can protect refrigerator and be isolated from the outside commodity in refrigerator,
Prevent article from maliciously being stolen；Access section major function is that storage commodity are placed by three-axis moving mechanism, and user takes the position of commodity away
It sets.
Partition is placed inside refrigerator again, refrigerator is divided into different lattice spaces, different quotient is placed in each grid
Product pass through main control after people have selected certain that be bought commodity and completed payment by mobile payment or hard paper money system
Plate controls three-axis moving mechanism by X, the mobile channel for being directed at this commodity of Y-axis, then inhales vacuum by mobile Z axis pulley
Attached system reaches near commodity, and then starting vacuum suction system makes vacuum suction system 7 adsorb this commodity, then lifts Z
Axis, then commodity are moved to by user's access section position by the movement of X, Y-axis, cargo is put down, user takes commodity away, completes primary
Automatic vending.
This system stores commodity due to using traditional refrigerator, thus commodity can be stored under freezing environment (0 DEG C with
Under), and traditional refrigerator technology maturation, cost and maintenance cost are low, have the advantages that traditional Vending Machine is incomparable, three
Shaft movement mechanism application is also than wide, technology also relative maturity, therefore this high-tech retail units has traditional automatic selling
The advantage that the machine of selling can not compete.
The present invention can be by traditional mature freezer product, three-axis moving mechanism kinematic control technology, pulley technology and movement
Payment technology, Internet technology combine, and invent the high-tech retail units of a super quality and competitive price, and the present invention can be with the use of movement
Payment, automated control technology, with solve frozen type food (for example commodity such as ice cream, quick-freezing boiled dumplings, quick-frozen packed meal) from
It is dynamic to sell, it has filled up nobody and has sold the blank in field,
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, it is possible to understand that
These embodiments can be carried out with a variety of variations, modification, replacement without departing from the principles and spirit of the present invention and become
Type, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of self-test anti-dropout is self-service to sell equipment, it is characterised in that: it includes shell and the refrigerator being installed in shell, three
Shaft movement mechanism (4), weighing sensor (8), vacuum suction system (7)；
The three-axis moving mechanism (4) includes Z axis bracket (401), X-axis bracket (402), Y-axis bracket (403)；
The Y-axis bracket (403) includes two vertical support frames for being set up in refrigerator (1) two sides, is provided on each bracket along Y-axis
The Y-axis sliding rail of direction setting；
The X-axis bracket (402) is installed on the Y-axis sliding rail of Y-axis bracket (403), can move along Y-axis sliding rail；X-axis bracket
(402) X-axis slide rail is provided on along the x axis；
The Z axis bracket (401) is installed in the X-axis slide rail of X-axis bracket (402), can move along X-axis slide rail；Z axis bracket
(401) Z axis slide rail is installed on;
Be equipped in Z axis slide rail can along the sliding block (2) that Z axis slide rail moves, sliding block (2) by rope connection weighing sensor (8),
Vacuum suction system (7)；Sliding block (2) can drive weighing sensor (8), vacuum suction system (7) to move up and down by rope；Claim
Retransmitting sensor can detect the downward pulling force of vacuum suction system adsorbent article, be sentenced when moving downward by the variation of downward pulling force
Whether disconnected vacuum suction system touches the article of lower part；It can judge that article is by tension variations when adsorbing item motion
It is no to fall off.
2. a kind of self-test anti-dropout according to claim 1 is self-service to sell equipment, it is characterised in that: on Z axis bracket (401)
It is equipped with pulley (3), pulley (3) includes the first pulley (301) being installed on sliding block (2), and sliding block (2) can drive first pulley
(301) mobile；Rope is wound in first pulley (301), one end of rope is fixed on Z axis, and the other end is bypassing first pulley
(301) vacuum suction system (7) are connected afterwards.
3. a kind of self-test anti-dropout according to claim 2 is self-service to sell equipment, it is characterised in that: the rope on pulley (3)
Suo Yiduan is fixed on the upper, middle and lower portion or other opposing stationary positions of Z axis bracket (401)；Weighing sensor (8) is fixed on
Any position on rope at the one end of vacuum suction system (7), pulley (3) or among rope.
4. a kind of self-test anti-dropout according to claim 2 is self-service to sell equipment, it is characterised in that: the pulley (3) is also
Including n pulley being connect with first pulley (301) by rope；First pulley (301) are driven when sliding block (2) moves up and down
It moves up and down, while driving other pulley rotations, so that moving up and down for vacuum suction system is driven, to realize vacuum suction
The remote Rapid contact of system (7).
5. a kind of self-test anti-dropout according to claim 1 is self-service to sell equipment, it is characterised in that: the weighing sensor
It (8) is one of electronic load cell, mechanical tensile forces sensor.
6. a kind of self-test anti-dropout according to claim 1 is self-service to sell equipment, it is characterised in that: the Z axis bracket
(401) it is also equipped on air pump (1), the air pump (1) is fixed on Z axis by fixing card (5), and vacuum suction system (7) is logical
Cross hose (6) connection air pump (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910307707.XA CN109949499A (en) | 2019-04-17 | 2019-04-17 | A kind of self-test anti-dropout is self-service to sell equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910307707.XA CN109949499A (en) | 2019-04-17 | 2019-04-17 | A kind of self-test anti-dropout is self-service to sell equipment |
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| Publication Number | Publication Date |
|---|---|
| CN109949499A true CN109949499A (en) | 2019-06-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910307707.XA Pending CN109949499A (en) | 2019-04-17 | 2019-04-17 | A kind of self-test anti-dropout is self-service to sell equipment |
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| CN (1) | CN109949499A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113120339A (en) * | 2020-01-16 | 2021-07-16 | 北京慧荣和科技有限公司 | Solution split charging system |
| CN113135538A (en) * | 2020-01-16 | 2021-07-20 | 北京慧荣和科技有限公司 | Culture dish cover opening mechanism |
-
2019
- 2019-04-17 CN CN201910307707.XA patent/CN109949499A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113120339A (en) * | 2020-01-16 | 2021-07-16 | 北京慧荣和科技有限公司 | Solution split charging system |
| CN113135538A (en) * | 2020-01-16 | 2021-07-20 | 北京慧荣和科技有限公司 | Culture dish cover opening mechanism |
| CN113120339B (en) * | 2020-01-16 | 2023-01-31 | 北京慧荣和科技有限公司 | Solution split charging system |
| CN113135538B (en) * | 2020-01-16 | 2023-01-31 | 北京慧荣和科技有限公司 | Culture dish cover opening mechanism |
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Application publication date: 20190628 |
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