CN110232771A - A kind of self-service device and method - Google Patents
A kind of self-service device and method Download PDFInfo
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- CN110232771A CN110232771A CN201910314912.9A CN201910314912A CN110232771A CN 110232771 A CN110232771 A CN 110232771A CN 201910314912 A CN201910314912 A CN 201910314912A CN 110232771 A CN110232771 A CN 110232771A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 168
- 230000033001 locomotion Effects 0.000 claims abstract description 105
- 230000005693 optoelectronics Effects 0.000 claims description 16
- 230000003993 interaction Effects 0.000 claims description 14
- 238000004064 recycling Methods 0.000 claims description 12
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 238000004804 winding Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 9
- 230000002452 interceptive effect Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000002337 anti-port Effects 0.000 description 1
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- 230000003542 behavioural effect Effects 0.000 description 1
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F9/00—Details other than those peculiar to special kinds or types of apparatus
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Abstract
The present invention relates to automatic vending technical fields, disclose a kind of self-service device and method, wherein self-service device includes: cabinet body；Movement mould group, grasping mechanism and delivery mechanism are equipped in cabinet body, movement mould group is connected, for driving grasping mechanism to move in cabinet body with grasping mechanism, grasping mechanism is used to successively grab target goods to front side on rear side of cabinet body and places it in delivery mechanism, and cabinet body is provided with access section at one end of delivery mechanism.A kind of self-service device and method provided by the invention, setting movement mould group can convenient for grasping mechanism in the intracorporal movement of cabinet, convenient for grasping mechanism be moved at target goods and delivery mechanism at；Setting grasping mechanism effectively can firmly pick up target goods, and target goods are smoothly sent to delivery mechanism, it is ensured that cargo is steady in shipment, and cargo is avoided to damage.
Description
Technical field
The present invention relates to automatic vending technical fields, more particularly to a kind of self-service device and method.
Background technique
With the arriving in unmanned epoch, there are numerous " unmanned " intelligent industries, such as, unmanned restaurant, prosthetic
Factory, unmanned, nobody transport etc., have refreshed cognition of the people to intelligent industry completely.Unmanned convenience store's (retail) because
Agree with the needs that consumer pursues Facility Consumption, is favored by more and more business and consumers.For traditional retail,
Occupied area is reduced, personnel cost is reduced；Analysis can be collected to the behavioral data of consumer, be easy to implement accurate battalion
Pin can be accomplished really small and beautiful to reduce the requirement of inventory, promote the shopping experience of consumer, shorten the time at
This.
In existing vending machine, during commercial articles vending, usually by being carried out in structure to the goods drawer on shelf
Adjustment, commodity are fallen on conveyer from shelf, realize extraction to commodity.In this mode, for common
Commodity for can carry out because do not have to consider kinds of goods damage risk.But consumer electronics etc. want transport
Relatively high commodity are sought, existing commodity extracting mode can not obviously operate, and easily increase the damage probability to commodity.
Accordingly, it is considered to which commodity, Ke Yiyou can be picked and placed freely by needing one kind to the safety of commodity and the accurate pick-and-place of commodity
Effect avoids the vending machine device of the damage caused by commodity during the extraction process.
Summary of the invention
(1) technical problems to be solved
The object of the present invention is to provide a kind of self-service device and methods, solve existing sell goods for solution or part
Machine is easy the problem of increasing to commodity damage probability.
(2) technical solution
In order to solve the above-mentioned technical problem, according to a first aspect of the present invention, a kind of self-service device is provided, comprising: cabinet
Body；It is equipped with movement mould group, grasping mechanism and delivery mechanism in the cabinet body, the movement mould group is connected with the grasping mechanism,
For driving the grasping mechanism to move in the cabinet body, the grasping mechanism is used to successively grab on rear side of cabinet body to front side
Target goods simultaneously place it in delivery mechanism, and the cabinet body is provided with access section at one end of the delivery mechanism.
On the basis of above scheme, goods carrier is provided in the cabinet body, the goods carrier includes multiple along the cabinet
To the cargo path that rear direction is distributed on front side of body, multiple cargo paths form multilayer multiple row structure；Different cargo paths of same size or
The height of difference, different cargo paths is identical or different.
On the basis of above scheme, the movement mould group includes at least the first movement being arranged along goods carrier width direction
Axis and the second shifting axle being arranged along goods carrier short transverse, the first movement axis and second shifting axle are for driving
The grasping mechanism is moved along the width direction and short transverse of the goods carrier；The grasping mechanism include sucker or
Manipulator.
On the basis of above scheme, the grasping mechanism further includes support plate and pushing mechanism；The sucker setting exists
In the support plate, one end of the support plate is connected with the movement mould group, after the support plate is moved to the goods carrier
The other end connects with the rear end of the cargo path when side, and the rear end of the sucker is connected with the pushing mechanism, the pushing mechanism
For pushing the sucker to move along the cargo path.
On the basis of above scheme, the pushing mechanism includes driving trolley, in the support plate and each cargo path
The guide rail that upper setting is distributed along the cabinet body front side to rear direction, and when the support plate is moved to any cargo path rear end,
Guide rail in the cargo path connects with the guide rail in support plate, and the driving trolley, which slides in the support plate with the guide rail, to be connected
It connects, the front end of the driving trolley is arranged in the sucker, and the driving trolley is connected with the first driving motor；Or it described pushes away
Motivation structure includes telescopic rod, and the telescopic rod is arranged on front side of the cabinet body to rear direction, the front end of the telescopic rod and suction
Disk is connected, and the rear end of the telescopic rod is connected with the second driving motor.
On the basis of above scheme, the pushing mechanism includes push-pull belt；One end of the push-pull belt and rotary electric machine
It is connected, the push-pull belt winding disc is set as disc structure, and the other end of the push-pull belt is connected with the rear end of the sucker, along institute
The movement routine for stating sucker is provided with Snap ring structure, and the push-pull belt passes through the Snap ring structure.
On the basis of above scheme, the delivery mechanism includes conveyer structure and recycling bins；The conveyer structure
Transport path and the movement routine of the grasping mechanism there are crossover sites；The recycling bins setting is another in the delivery mechanism
The lower section of one end.
On the basis of above scheme, further includes: to penetrating optoelectronic switch；Optoelectronic switch is penetrated for described pair to be arranged in the delivery
One end of mechanism, described pair is penetrated optoelectronic switch for detecting the state of cargo at delivery mechanism one end, and then to delivery machine
The start and stop of structure and conveying direction are controlled.
On the basis of above scheme, further includes: controller, motion motor group, limit switch and human-computer interaction module；Institute
It states motion motor group to be connected with the movement mould group, the front side of the cabinet body, the limit is arranged in the human-computer interaction module
Switch for control it is described movement mould group stop position, the controller respectively with the motion motor group, limit switch, people
Machine interactive module, grasping mechanism, delivery mechanism and to penetrate optoelectronic switch be connected.
According to a second aspect of the present invention, a kind of self-service method is provided, above-mentioned self-service device is utilized, comprising:
In cargo path locating for target goods, target goods are successively grabbed from back to front；Target goods are sent to delivery mechanism, by delivery, mechanism is sent
Out；Target goods in delivery mechanism are monitored, residence time of the target goods in delivery mechanism reaches preset time
When, delivery mechanism sends target goods back to interior of the cabinet.
(3) beneficial effect
A kind of self-service device and method provided by the invention, setting movement mould group can be convenient for grasping mechanisms in cabinet body
Movement, convenient for grasping mechanism be moved at target goods and delivery mechanism at；Setting grasping mechanism effectively can be grabbed firmly
Target goods are played, and target goods are smoothly sent to delivery mechanism, it is ensured that cargo is steady in shipment, avoids
Cargo damages.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of internal structure of self-service device of the embodiment of the present invention；
Fig. 2 is the first structure diagram of grasping mechanism in the embodiment of the present invention；
Fig. 3 is the second structural schematic diagram of grasping mechanism in the embodiment of the present invention；
Fig. 4 is the third structural schematic diagram of grasping mechanism in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of delivery mechanism in the embodiment of the present invention；
Fig. 6 is a kind of entire surface schematic diagram of self-service device of the embodiment of the present invention；
Fig. 7 is a kind of the first control schematic diagram of self-service method of the embodiment of the present invention；
Fig. 8 is a kind of the second control schematic diagram of self-service method of the embodiment of the present invention；
Fig. 9 is a kind of flow diagram of self-service method of the embodiment of the present invention.
Description of symbols:
1-goods carrier；2-first movement axis；3-the second shifting axle；
4-grasping mechanisms；5-access sections；6-delivery mechanisms；
7-control rooms；8-cabinet bodies；9-show areas；
10-touch screens；11-loudspeakers；41-support plates；
42-driving trolleies；43-suckers；44-the first driving motor；
45-telescopic rods；46-picking storehouses；47-push-pull belts；
48-rotary electric machines；49-Snap ring structures；61-conveyer structures；
62-recycling bins.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Following instance
For illustrating the present invention, but it is not intended to limit the scope of the invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
A kind of self-service device is provided according to embodiments of the present invention, and with reference to Fig. 1, which includes: cabinet body 8；In cabinet body 8
Equipped with movement mould group, grasping mechanism 4 and delivery mechanism 6.Movement mould group is connected, for driving grasping mechanism 4 to exist with grasping mechanism 4
It is moved in cabinet body 8.By moving mould group, the cargo at any position can be grabbed convenient for grasping mechanism 4.Movement mould group is fixed on cabinet
On body 8.Grasping mechanism 4 is used to successively grab target goods to front side from 8 rear side of cabinet body and places it in delivery mechanism 6.
Cabinet body 8 is provided with access section 5 at one end of delivery mechanism 6.
A kind of self-service device provided in this embodiment, after customer has selected target goods, movement mould group can band
Dynamic grasping mechanism 4 is moved at target goods；Then grasping mechanism 4 grabs target goods.It can be incited somebody to action by grasping mechanism 4
Target goods are securely picked up, avoid in existing vending machine cargo directly fall and caused by cargo damage.
Target goods are sent to delivery mechanism 6 by grasping mechanism 4.Then delivery mechanism 6 send target goods to taking
At goods mouth 5.Customer can take out cargo from access section 5.
A kind of self-service device provided in this embodiment, grasping mechanism 4 are moved in cabinet body 8 by moving mould group, are grabbed
Take mechanism 4 by move mould group be moved at target goods and delivery mechanism 6 at；Grasping mechanism 4 is arranged can be effectively firm
Target goods are picked up, and target goods are smoothly sent to delivery mechanism 6, it is ensured that cargo is steady in shipment,
Cargo is avoided to damage.
On the basis of the above embodiments, further, the present embodiment carries out the setting structure of goods carrier 1 in cabinet body 8
Explanation.Goods carrier 1 is provided in cabinet body 8, for putting a variety of cargos.Goods carrier 1 includes multiple along 8 front side of cabinet body to rear side
The cargo path of directional spreding.Multiple cargo paths form multilayer multiple row structure.Of same size or different, the height of different cargo paths of different cargo paths
It spends identical or different.
Each cargo path is along the directional spreding from 8 front side of cabinet body to rear side.It can from front to back successively in each cargo path
Multiple same cargos are placed in arrangement.The length direction of cargo path is i.e. from 8 front side of cabinet body to the direction of rear side.Customer faces cabinet body 8
Front side do shopping.The cargo positioned at each cargo path front end can be seen in customer.For in each cargo path, back cargo with most
The cargo of front end is identical.Different cargo paths can place different cargos.The width and height of cargo path can be according to institute's arrangements of goods
Specific size is set.
On the basis of the above embodiments, further, the present embodiment carries out the specific setting structure of movement mould group
Explanation.With reference to Fig. 6,8 front side of cabinet body is equipped with show area 9 with 1 corresponding position of goods carrier, that is, is set as transparent configuration.Customer can
Clearly intuitively to observe all the case where selling goods on front side of goods carrier 1.
All commodity display in cargo path according to sequence successively from front to back.Moving mould group drives grasping mechanism 4 from goods
The rear side of rack 1 successively grabs the commodity in cargo path to front side.The commodity on rear side of cargo path are first sold every time.So that not selling
Complete commodity are placed on cargo path at one end of impression window always.It can be clearly seen that quotient for sale always convenient for customer
Product.
With reference to Fig. 1, it includes high along the first movement axis 2 of 1 width direction of goods carrier setting and along goods carrier 1 for moving mould group
Spend the second shifting axle 3 of direction setting.Movement mould group is for driving width direction and height of the grasping mechanism 4 along goods carrier 1
It is moved in direction.
The movement mould group includes transverse movement structure i.e. first movement axis 2 and longitudinal movement structure i.e. the second shifting axle 3.Goods
The width direction of rack 1 is the horizontal direction perpendicular with the length direction of cargo path, the i.e. width direction of every layer of goods carrier 1.
Connection type that there are two types of first movement axis 2 and the second shifting axle 3, the first are as follows: the fixation of first movement axis 2 can be set
It sets at the top of cabinet body 8, the second shifting axle 3 is slidably connected with first movement axis 2, then by grasping mechanism 4 and the second shifting axle 3
It is slidably connected.In this way, transverse movement structure drives longitudinal movement structure to be moved along the width direction of goods carrier 1, thus band
At that column cargo path position where dynamic longitudinal movement structure arrival target goods.Then longitudinal movement structure drives grasping mechanism
4 move up and down, so that grasping mechanism 4 reaches at the cargo path of target goods place.
Second are as follows: the fixation of the second shifting axle 3 can also be vertically arranged.First movement axis 2 and the sliding of the second shifting axle 3 connect
It connects, then grasping mechanism 4 is slidably connected with first movement axis 2.In this way, longitudinal movement structure drives transverse movement structure along cargo
The short transverse of frame 1 is mobile, is placed so that the grasping mechanism 4 being arranged in transverse movement structure be driven to be moved to target goods
The respective heights position of cargo path.Then transverse movement structure drives grasping mechanism 4 to move horizontally, so that grasping mechanism 4 reaches mesh
Where marking cargo at cargo path.
Any structure that can be realized linear movement can be used in transverse movement structure and longitudinal movement structure.For example, with
One shifting axle 2 and the second shifting axle 3 use for the first connection type: transverse movement structure can be for including guide rail and first
Sliding block composition, that is, be arranged the first sliding block and be slidably connected with first movement axis 2；Then longitudinal movement structure is connect with the first sliding block.
Longitudinal movement structure is driven to move horizontally along first movement axis 2 by the first sliding block.First sliding block can be by first motor drives edge
First movement axis 2 slides, to drive grasping mechanism 4 to move horizontally along 1 width direction of goods carrier.
Equally, the second sliding block of setting is slidably connected with the second shifting axle 3.Grasping mechanism 4 can be connected with the second sliding block.Second
Sliding block can be moved by the second motor driven along the second shifting axle 3, with drive grasping mechanism 4 along 1 short transverse of goods carrier into
Row moves up and down.
Further, transverse movement structure and longitudinal movement structure can also be screw structure.It will by screw rod and nut
Rotary motion is converted to linear motion.Further, movement mould group can also be that can provide the structure of 3 d-line movement, gripper
Structure 4 can arbitrarily be moved in cabinet body 8, convenient for crawl cargo.
Grasping mechanism 4 can be sucker 43 or manipulator.Sucker 43 can be negative pressure of vacuum sucker 43.
On the basis of the above embodiments, further, the present embodiment is to specific setting when grasping mechanism 4 is sucker 43
It is illustrated.Grasping mechanism 4 further includes support plate 41 and pushing mechanism.One end of support plate 41 is connected with movement mould group, props up
The other end connects with the rear end of cargo path when fagging 41 is moved to 1 rear side of goods carrier.Sucker 43 is arranged in support plate 41.Sucker 43
Rear end be connected with pushing mechanism, pushing mechanism is for pushing negative pressure sucker 43 to move along cargo path.
Sucker 43 is mainly to contact with target goods, carries out the fixed component of crawl to target goods.Negative pressure sucker 43 is set
It is equipped with vacuum pump, makes negative pressure sucker 43 form pull of vacuum by vacuum pump, and then target goods can be drawn and fixed.Support
Plate 41 is used to connect with the rear end of cargo path for being supported negative pressure sucker 43, convenient for negative pressure sucker 43 after cargo path
End is moved along cargo path, and then is drawn to the cargo of cargo path rear end.
Pushing mechanism moving along cargo path for realizing negative pressure sucker 43, after cargo path can be moved to so as to negative pressure sucker 43
Cargo is drawn at the cargo at end, and is retracted in support plate 41 after drawing cargo.It is moved in first movement axis 2 and second
When moving axis 3 is attached with above-mentioned first way, support plate 41 is connected with the second shifting axle 3.In first movement axis 2 and second
When shifting axle 3 is attached with the above-mentioned second way, support plate 41 is connected with first movement axis 2.
Further, movement mould group may be provided at the rear side of goods carrier 1.
On the basis of the above embodiments, further, with reference to Fig. 2, pushing mechanism includes driving trolley 42.In support plate
41 and each cargo path on the guide rail that is distributed along the front side of cabinet body 8 to rear direction of setting, and be moved to any goods in support plate 41
When road rear end, the guide rail in the cargo path connects with the guide rail in support plate 41.Drive trolley 42 sliding with guide rail in support plate 41
Dynamic connection.The front end of driving trolley 42 is arranged in sucker 43.Driving trolley 42 is connected with the first driving motor 44.
Setting driving trolley 42 is used as pushing mechanism.Trolley 42 is driven to move under the drive of the first driving motor 44 along guide rail
It is dynamic.Guide rail is arranged along the length direction of cargo path.Linear guide rail is set in support plate 41 and cargo path, it is ensured that driving trolley 42
It is moved along specified running track, driving trolley 42 is avoided to deviate, it is ensured that the accuracy and validity of cargo crawl.
Further, the guide rail in cargo path and support plate 41 can be sliding groove structure；Correspondingly, at the bottom of driving trolley 42
Portion's setting projection cube structure is slidably connected with sliding slot.Guide rail, which is set as sliding slot, can not influence the steady placement of cargo in cargo path.
The self-service device is specifically sold goods process are as follows: after customer chooses target goods and pays, movement mould group can
It is moved according to the location information of preset each cargo, grasping mechanism 4 is taken to the rear end of cargo path locating for target goods.Movement
When mould group stops, support plate 41 should be made to connect with the rear end of cargo path, so that the upper surface of the upper surface of support plate 41 and cargo path
It is connected and is a flat surface.And the guide rail in support plate 41 connects to forming linear guide rail with the guide rail in cargo path.
Then the first driving motor 44 drives driving trolley 42 to move along guide rail.Negative pressure positioned at driving 42 front end of trolley is inhaled
When disk 43 touches cargo, driving trolley 42 stops movement, and negative pressure sucker 43 under the action of vacuum pump to after the cargo path
The cargo at end is drawn.Then driving trolley 42 drives negative pressure sucker 43 and cargo to be moved to support plate 41 along guide rail withdrawal
On.
Then movement mould group drives grasping mechanism 4 and target goods to be moved at delivery mechanism 6.The release of negative pressure sucker 43 is inhaled
Target goods are stably placed in delivery mechanism 6 by power, are sent to access section 5 by delivery mechanism 6.
Further, with reference to Fig. 3, pushing mechanism includes telescopic rod 45, and telescopic rod 45 is set along 8 front side of cabinet body to rear direction
It sets.The front end of telescopic rod 45 is connected with sucker 43, and the rear end of telescopic rod 45 is connected with the second driving motor.Second driving motor band
Dynamic telescopic rod 45 carries out linear expansion along from 8 front side of cabinet body to the direction of rear side.Telescopic rod 45 reaches target by linear extension
Target goods are drawn at cargo rear, and then target goods band is back in support plate 41 by retracting.
On the basis of the above embodiments, further, the present embodiment proposes another setting structure of pushing mechanism.
With reference to Fig. 4, pushing mechanism includes push-pull belt 47.One end of push-pull belt 47 is connected with rotary electric machine 48.47 winding disc of push-pull belt is set
For disc structure.The other end of push-pull belt 47 is connected with the rear end of negative pressure sucker 43.Along the shifting of negative pressure sucker 43 in support plate 41
Snap ring structure 49 is provided on dynamic path.Push-pull belt 47 passes through Snap ring structure 49.
Push-pull belt 47 can be wound up as disc structure, convenient for packing up fixation.The center one end and rotation of push-pull belt 47 in disk
Motor 48 is connected.By the rotation of rotary electric machine 48, the extending movement of the other end of push-pull belt 47 or withdrawal are folded.And then it is logical
The elongation or withdrawal for crossing push-pull belt 47 can drive negative pressure sucker 43 to be moved along cargo path.
In effect, the elongation of 47 other end of push-pull belt pushes negative pressure sucker 43 to be moved adjacent to target goods along cargo path
Position, then negative pressure sucker 43 grabs commodity, and after determining that commodity grab successfully, push-pull belt 47 pulls sucker 43 is mobile to receive again
It closes, so that cargo leaves goods carrier 1.Snap ring structure 49 is set in support plate 41, path can be withdrawn to the elongation of push-pull belt 47
It is defined control, prevents push-pull belt 47 from deviating.
Push-pull belt 47 should be the structure folded convenient for winding and with certain degree of hardness.Push-pull belt 47 can be chain structure or skin
Band or plastic tape etc..Wherein, chain structure can be formed by hard material.
Further, grasping mechanism 4 can also be the structures such as manipulator, for the purpose of being able to achieve and grab fixed cargo, specifically
Without limitation.The two sides of support plate 41 may also set up baffle, that is, form opening towards the picking storehouse 46 of goods carrier 1, every time by mesh
Mark cargo is grabbed into the picking storehouse 46, both convenient for each component is fixed, can also movement routine to negative pressure sucker 43 into
Row limits control.
On the basis of the above embodiments, further, with reference to Fig. 5, delivery mechanism 6 includes conveyer structure 61.Pass through
The movement of conveyer belt steadily conveys cargo.Further, conveyer structure 61 may be provided at the bottom of cabinet body 8, can also
It is arranged at other positions.There are crossover sites for the movement routine of the transport path of conveyer structure 61 and grasping mechanism 4.Just
Can smoothly target goods be placed on conveyer structure 61 in grasping mechanism 4.
Conveyer structure 61 may include fifth wheel, driving belt and motor.Driving belt is set on two fifth wheels.Electricity
Machine controls one of fifth wheel rotation, and then drives belt transmission.
Delivery mechanism 6 further includes recycling bins 62.The lower section of 6 other end of delivery mechanism is arranged in recycling bins 62.
On the basis of the above embodiments, further, a kind of self-service device further include: to penetrating optoelectronic switch.It is right
Penetrate one end that delivery mechanism 6 is arranged in optoelectronic switch.To penetrating optoelectronic switch for detecting the shape of cargo at 6 one end of delivery mechanism
State.And then the start and stop of delivery mechanism 6 and the conveying direction of delivery mechanism 6 are controlled.
Delivery mechanism 6 close to the installation of one end of access section 5 to penetrating optoelectronic switch.When commodity reach 6 one end of delivery mechanism
Designated position after, delivery mechanism 6 stops operating.Customer can take cargo away at access section 5.By setting to penetrating optoelectronic switch
It can determine state of the cargo in delivery mechanism 6, the operating of delivery mechanism 6 can be controlled according to cargo state.
The conveyer structure 61 of delivery mechanism 6, which can rotate forward, also to be rotated backward.When rotating forward, for cargo to be sent
To access section 5.In addition, if cargo is not taken away by customer, customer forgets picking after stop preset time at access section 5
When, control conveyer structure 61 rotates backward, and goods movement is recycled into recycling bins 62.
It further, can be by detecting the state of cargo to optoelectronic switch is penetrated.Gravity can also be set in delivery mechanism 6
Sensor.Cargo state is judged by the detection to gravity in delivery mechanism 6.Delivery is placed goods onto grasping mechanism 4
When in mechanism 6, delivery mechanism 6 experiences gravity increase, then operates according to preset path, cargo is sent to access section 5.
If after separated in time, gravity is not reduced in delivery mechanism 6, i.e., cargo is still in delivery mechanism 6, then
6 antiport certain distance of delivery mechanism, cargo is sent into recycling bins 62.
Existing goods selling equipment prevents loss of goods often through shutdown when cargo is not taken away by customer in time, this
Sample just needs staff that maintenance is gone to restart, and not only influences the normal operation of goods selling equipment and spends manpower, increases cost.This is sold
Goods device setting recycling function is placed and is lost, and can effectively reduce the weight to goods selling equipment, it can be achieved that recycling to commodity
Manipulation is opened, the O&M cost of goods selling equipment is reduced.
On the basis of the above embodiments, further, a kind of self-service device further include: controller, motion motor
Group, limit switch and human-computer interaction module.Motion motor group is connected with movement mould group, for driving the movement of movement mould group.People
The front side of cabinet body 8 is arranged in machine interactive module, can be touch display screen, check goods information for user, choose cargo and
It is paid.
Limit switch is used to control the stop position of movement mould group.Controller respectively with motion motor group, limit switch, people
Machine interactive module, grasping mechanism 4, delivery mechanism 6 and to penetrate optoelectronic switch be connected.Controller is used for the fortune to the goods selling equipment
Row carries out comprehensive intelligent control.Controller is connected with vacuum pump and pushing mechanism, to control grasping mechanism 4.Setting electricity
Source module to whole device for being powered.Controller can open opening for control whole device by control power module
Shutdown.
Can be in the inside of cabinet body 8, control room 7 is arranged in the side of goods carrier 1, for the control devices such as controller to be arranged.People
Machine interactive module can be touch screen 10.Touch screen 10 may be provided at the surface of control room 7.Human-computer interaction module, which may also include, to amplify
Device 11 and voice interaction module.The front-end surface of cabinet body 8 is arranged in loudspeaker 11.Voice interaction module is arranged inside cabinet body 8,
It is connected with loudspeaker 11, for carrying out human-computer interaction by voice.
Further, settable door body at access section 5, door body are connected with stepper motor.Stepper motor can tape controller
Control is lower to drive door body to open or close.
On the basis of the above embodiments, further, a kind of self-service method, using being mentioned in any of the above-described embodiment
The self-service device of confession, this method comprises: successively grabbing target goods from back to front in the cargo path locating for target goods；It will
Target goods are sent to delivery mechanism 6, are sent out by delivery mechanism 6；Target goods in delivery mechanism 6 are monitored, target goods
For object when the residence time in delivery mechanism 6 reaching preset time, delivery mechanism 6 sends target goods inside cabinet body 8 back to.
On the basis of the above embodiments, further, a kind of self-service device and method is mainly used for market, surpasses
The automatic vending of the electronic product of some public places such as city, airport.The major function of device be divided into touch screen 10, show area 9,
Execute the composition such as picking mechanism, pneumatic source region, control and driving unit, data transmission interface.
The front of goods selling equipment is divided into for 3 regions: transparent articles show area 9, human-computer interaction interface and picking window.
All wait sell goods through the observing of being perfectly clear of transparent articles show area 9, consumer passes through human-computer interaction circle
Face will be seen that buyer's guide, selection commodity and complete the functions such as payment.Picking window, which is then taken to consumer, to be bought
Article.
With reference to Fig. 7 and Fig. 8, goods selling equipment includes interactive unit, PLC controller, state acquisition unit, driver, pneumatic
Unit, motor group, movement mould group, goods carrier 1 and delivery mechanism 6 form.PLC is responsible for the equipment such as all motors, air pump, conveyer belt
Control and various kinds of equipment state acquisition.Pass through modbusRTU agreement between PLC and host computer (interaction control unit)
It is communicated.
PLC can select Panasonic FP-XH serial, which could support up the control of 8 motors.Achievable RS232C,
The communications such as RS422/485, Ethernet need.Single PLC can meet all demands for control of vending machine.Settable power supply
Module provides 24V DC power supply for all devices in vending machine, and using AC/DC switch power module, 220VAC is converted to
24VDC。
Driving unit is the driver of motor, selection standard configuration.Interaction control unit is clear to consumer's completion commodity
Look at, select and pay purchase.It is stored with all information in record commodity, the storage including commodity in the shelf of goods selling equipment
Location information.
State acquisition unit is then to be made of limit switch, optoelectronic switch, travel switch and magnetic railings ruler, connect with PLC,
By acquiring the state of the equipment such as various switches and magnetic railings ruler, the real-time status data of movement mould group and sucker 43 is grasped.
With reference to Fig. 9, consumer is completed after commodity pay by interactive unit, and the host computer of interactive unit is by determining commodity
Position Number is sent to PLC controller, and PLC controller is numbered according to product locations generates control instruction, and driver connects PLC control
Device processed receives the control instruction that PLC controller is sent, and the control instruction is converted to the displacement and speed data of movement mould group.
Motor connects driver, and by driver control.Moving first movement axis in mould group is Y-axis, and the second shifting axle is Z axis.
Goods selling equipment built-in function area moves mould group by goods carrier 1, and grasping mechanism 4 and delivery mechanism 6 form.Cabinet body 8 is used
In supporting movement mould group, goods carrier 1 and delivery mechanism 6.Goods carrier 1 is for displaying material commodity.Goods carrier 1 includes multiple edges
The cargo path being distributed from 8 front side of cabinet body to rear side.Further, cargo path two sides are additionally provided with material overturning-preventing auxiliary rod, guarantee object
Expect commodity successively regular arrangement.Overturning-preventing auxiliary rod can be the baffle that cargo path two sides are arranged in.
After host computer has determined and sold the storage position of commodity, PLC controller, PLC control are sent to by position encoded
Device generates movement mould group control instruction and air pump, that is, vacuum pump fetching instruction according to the location information respectively.Driver receives control
System instructs and is converted to displacement and the speed digital signals of movement mould group.Control motion motor group drives corresponding shifting axle respectively
With the corresponding displacement of speed movement of setting.Sending grasping mechanism 4 to target position.
Meanwhile state acquisition unit is changed by the state of acquisition limit switch, to trigger vacuum pump fetching instruction, vacuum
Pump drives negative pressure sucker 43 to grab commodity.Then drive movement mould group that commodity are placed in delivery mechanism again by motion motor group
On 6, access section 5 is transported to by delivery mechanism 6.
The self-service device is being all disposed within the shelf of vending machine just in view of the goods taking device of current vending machine device
Face, the mobile commodity gone in crawl cargo path in the back side (rear end) of the goods taking device from the front (front end) of cargo path to cargo path, commodity are
It is successively sold according to sequence from front to back.This kind of mode causes the commodity storage that do not sell on rear side of cargo path；If quotient in cargo path
Product are remaining, and seldom i.e. commodity compare rearward or cargo path density is too big, lead to whether also customer can not be visually observed that in cargo path
Commodity will affect normally selling for commodity.Meanwhile the front setting of goods taking device, it also will affect the integrated beauty of vending machine device
See effect.
The self-service device and method by cabinet body 8 be arranged movement mould group, realize on goods carrier 1 commodity from
Dynamic picking.Grasping mechanism 4 is arranged in the rear side of goods selling equipment cargo path, successively grabs cargo according to sequence back to front, is protected
Card does not sell goods and can intuitively be observed by consumer.By the forward and reverse control of conveyer structure 61, realize to commodity
Recycling, prevents the loss of commodity, and can effectively reduce the reboot operation to vending machine, reduces the O&M cost of vending machine.
Picking to commodity is realized using 43 mode of sucker, commodity can be prevented according to the position of commodity, flexible operating
It loses.Line style track is set on grasping mechanism 4, guarantees the stationarity of 43 running track of negative pressure sucker, to guarantee that commodity are grabbed
The fastness and validity taken.Cargo is not taken away by withdrawing in time, solves the prior art by cycle power to complete not
Take cargo withdrawal away, replenish the problem that the time is long, the accuracy rate that replenishes is low.
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
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of self-service device characterized by comprising cabinet body；Be equipped in the cabinet body movement mould group, grasping mechanism and
Delivery mechanism, the movement mould group are connected, for driving the grasping mechanism to move in the cabinet body with the grasping mechanism,
The grasping mechanism is used to successively grab target goods to front side on rear side of cabinet body and places it in delivery mechanism, the cabinet
Body is provided with access section at one end of the delivery mechanism.
2. self-service device according to claim 1, which is characterized in that goods carrier is provided in the cabinet body, it is described
Goods carrier includes multiple cargo paths being distributed along the cabinet body front side to rear direction, and multiple cargo paths form multilayer multiple row knots
Structure；Different cargo paths it is of same size or different, the height of different cargo paths is identical or different.
3. self-service device according to claim 2, which is characterized in that the movement mould group is included at least along goods carrier
Width direction setting first movement axis and along goods carrier short transverse setting the second shifting axle, the first movement axis and
Second shifting axle is for driving the grasping mechanism to be moved along the width direction and short transverse of the goods carrier；
The grasping mechanism includes sucker or manipulator.
4. self-service device according to claim 3, which is characterized in that the grasping mechanism further includes support plate and pushes away
Motivation structure；The sucker is arranged in the support plate, and one end of the support plate is connected with the movement mould group, the support
The other end connects with the rear end of the cargo path when plate is moved on rear side of the goods carrier, the rear end of the sucker and the promotion machine
Structure is connected, and the pushing mechanism is for pushing the sucker to move along the cargo path.
5. self-service device according to claim 4, which is characterized in that the pushing mechanism includes driving trolley,
The guide rail being distributed on front side of the cabinet body to rear direction is set in the support plate and each cargo path, and in the support plate
When being moved to any cargo path rear end, the guide rail in the cargo path connects with the guide rail in support plate, and the driving trolley is in the branch
It is slidably connected on fagging with the guide rail, the front end of the driving trolley, the driving trolley and first is arranged in the sucker
Driving motor is connected；
Or the pushing mechanism includes telescopic rod, the telescopic rod is arranged on front side of the cabinet body to rear direction, described to stretch
The front end of contracting bar is connected with sucker, and the rear end of the telescopic rod is connected with the second driving motor.
6. self-service device according to claim 4, which is characterized in that the pushing mechanism includes push-pull belt；It is described
One end of push-pull belt is connected with rotary electric machine, and the push-pull belt winding disc is set as disc structure, the other end of the push-pull belt with
The rear end of the sucker is connected, and the movement routine of the sucker is provided with Snap ring structure, the push-pull belt passes through the snap ring
Structure.
7. self-service device according to any one of claims 1 to 6, which is characterized in that the delivery mechanism includes transmission
Band structure and recycling bins；There are crossover sites for the movement routine of the transport path of the conveyer structure and the grasping mechanism；
The lower section of the delivery mechanism other end is arranged in the recycling bins.
8. self-service device according to claim 7, which is characterized in that further include: to penetrating optoelectronic switch；Described pair is penetrated
One end of the delivery mechanism is arranged in optoelectronic switch, and described pair is penetrated optoelectronic switch for detecting goods at delivery mechanism one end
The state of object, and then the start and stop and conveying direction of delivery mechanism are controlled.
9. self-service device according to claim 8, which is characterized in that further include: controller, motion motor group, limit
Bit switch and human-computer interaction module；The motion motor group is connected with the movement mould group, and the human-computer interaction module setting exists
The front side of the cabinet body, the limit switch be used for control it is described movement mould group stop position, the controller respectively with institute
It states motion motor group, limit switch, human-computer interaction module, grasping mechanism, delivery mechanism and is connected to optoelectronic switch is penetrated.
10. a kind of self-service method, which is characterized in that using any self-service device of the claims 1-9,
Include:
In the cargo path locating for target goods, target goods are successively grabbed from back to front；
Target goods are sent to delivery mechanism, by delivery, mechanism is sent out；
Target goods in delivery mechanism are monitored, residence time of the target goods in delivery mechanism reaches preset time
When, delivery mechanism sends target goods back to interior of the cabinet.
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| CN201910314912.9A CN110232771A (en) | 2019-04-18 | 2019-04-18 | A kind of self-service device and method |
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| CN201910314912.9A CN110232771A (en) | 2019-04-18 | 2019-04-18 | A kind of self-service device and method |
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| CN110969762A (en) * | 2019-12-24 | 2020-04-07 | 北京友宝在线科技股份有限公司 | Vending machine |
| CN110992589A (en) * | 2019-12-23 | 2020-04-10 | 福建骏鹏易丰商用设备有限公司 | Vending machine and working method thereof |
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| CN114735393A (en) * | 2022-03-31 | 2022-07-12 | 河南云迹智能技术有限公司 | Slide way type container and robot interaction system and goods conveying method |
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