CN110322627A - A kind of automatic vending system shipment device using homing guidance waggon - Google Patents

Abstract

A kind of shipment device of automatic vending system, cargo is obtained on shelf passage using homing guidance waggon, in channel end, homing guidance waggon is transferred to another channel by docking facilities, then homing guidance waggon is moved into customer's taking mouth, it puts down cargo and leaves the device, complete sale shipment.Further, on shelf passage or multiple homing guidance waggons, docking facilities also there are multiple groups, there are many form and structures, work in coordination and access cargo.There are channel-type storage bin and processing unit (plant) cooperation homing guidance waggon operation.A kind of automatic vending system is interior to take out the method for stacking commodity with homing guidance waggon, and the commodity of stacking are moved to channel proximal end by homing guidance waggon, the commodity that then taking-up or movement are stacked one by one from top to bottom.

Description

A kind of automatic vending system shipment device using homing guidance waggon

Technical field

Present invention relates in general in a kind of Vending Machine, device or system, storage, crawl convey and process goods The construction and device of object.

Background technique

One, current, there are many kinds of the structures of shipment for known Vending Machine

Screw rod, conveyer belt etc..Manpower is put cargo specific when the shipment device of this type requires storage Position, labor intensive, and also pendulum goods density is low, storage is limited, and each type cargo requires to configure a set of goods-out path, knot Structure complexity is complicated, higher cost.It is especially unsuitable for small in size and low-cost kinds of goods.

Numerical control push plate, pushing hands.The commodity in cargo path are from inside outwards released using push plate, in defect class.

Slideway, special-shaped cargo path.The shipment device of this type requires that cargo is made to reach exit by gravity, equally enters Manpower is needed cargo to be put the position of chute inlet, labor intensive when library, each type cargo requires to configure a set of Goods-out path, complicated, higher cost that structure is complicated.It is also not suitable for small in size and low-cost kinds of goods.

Hang pawl/pulley lifting rope.This is the conventional structure for grabbing rag baby machine, the problem is that, it pulley and hangs There are life problems for rope, and lifting rope lacks rigidity, accelerate handgrip limited, can not quick acting.Moreover, the accuracy of handgrip Because there is also limitations for the shaking of lifting rope, thus the shipment structure deficient in stability.

Spherical commodity.Commodity are put into spherical shell, spherical shell commodity in heaps are placed on the cabinet of base portion circle or taper It is interior, lowermost commodity are discharged after coin.The type machine is suitable only for cheap small goods.

Digital control mechanical arm/handgrip/support hand.This type shipment device, there are many form, but there are still when commodity storage Labor intensive, and be not suitable for irregular and flexible package cargo.In addition, there is also retain manipulator because stroke needs Activity space caused by put the low density problem of goods, while also because generally use vertical structure (other axis be based on upper and lower axle Movement) structure, along with stroke it is larger, lead to the deterioration of volume, weight and cost.

Belt Vending Machine.It like the shipment mode of machinegun belt formula, but can not directly enter goods, need with volume Band arranges cargo.It is suitable only for being applied to particular commodity.

Still more or less there is the above problem or limitation in other types Vending Machine.

The above type Vending Machine, when being particularly difficult to adapt to sale, type of merchandize is flexible and changeable, diversified requirement, And the not first-class requirement of commercial distribution terrain scene length, width and height size shape.

Beneficial effect

Present invention improves over digital control mechanical arm/handgrip described above/support hand shape formula vending machine, this kind of device its Feature is commodity to be taken out from cargo path front end, but because vending machine inner space is extremely compact narrow, manipulator is difficult to depth spy Enter in shelf, so the vending machine not as good as other forms is had always been considered as, using limited.It is mechanical according to lever principle Hand probes into deeper, then needs bigger more complicated, stronger, volume, heavier base portion and bigger mechanical trip space.And or Person changes the gradient of shelf layer, so that commodity are because gravity slides out to shelf outlet, manipulator probes into shelf without depth Inside, but the construction similarly limits the flexibility of manipulator broader applications again, cargo can not be moved in shelf, also can not Make more complicated operation, manipulator superiority cannot play.

The invention proposes the new structures of the one kind for the automatic vending system that commodity are taken out from shelf front end, by being applied to This software electrical technology increasingly reduced, and strengthen function and simplify mechanical part.Compared to the automatic selling of other forms numerical control Device (being not limited to form described in the preceding paragraph) is sold, other than realizing original automatic shipment function, complete machine mechanical structure letter It is single, independent shipment device, small volume, lighter in weight, cost is relatively low without being arranged for each cargo path, be able to achieve more complicated to go out Goods path in order to realize the processing more complicated to cargo (such as cook etc.), more outstanding advantage be complete machine to a variety of landform and Occasion has the confined spaces such as good adaptability, especially gorge.Meanwhile this system also achieves the high density storage of cargo It deposits.The present invention is an important innovation of automatic vending system.

Summary of the invention

The invention proposes a kind of shipment devices of automatic vending system: having homing guidance waggon and shelf；Described Homing guidance waggon has load-engaging device, can move the cargo on the shelf；There is shelf passage in the shelf；It is described Homing guidance waggon moved in the shelf passage.The combination simplifies the structure of automatic vending system, reduces Cost.It is particularly suitable for gorge space simultaneously to use.

The invention proposes the homing guidance waggon that has docking facilities transfer described, it is switched to it different described Shelf passage；The homing guidance waggon is able to enter shelf and leaves docking facilities, or leaves shelf into docking facilities.

The invention proposes: the docking facilities have rotating mechanism, and the homing guidance waggon can be made to turn to.

The invention proposes: there is locking device on the homing guidance waggon；There is pairing in the docking facilities Locking device；When the locking device enters lock state, homing guidance waggon can not be moved.The locking device is under The hoisting mechanism stated combines, thus structure simplifies, and cost is relatively low.

The invention proposes: the homing guidance waggon has hoisting mechanism, can move up and down.

The invention proposes: the homing guidance waggon has transfer or translating device.Homing guidance waggon Interior integrated translating device, advantageously reduces system cost, also the favorably flexibility with increase shelf passage shape and structure.

The invention proposes: device is moved left and right, end structure is enable to move left and right.Thus, so that the system is more suitable For grabbing, moving the commodity of small size.

The invention proposes: there is forked construction, it can be from bottom supporting goods；The forked construction and the promotion Mechanism connection, can lift cargo, and cargo is made to be detached from bottom supporting surface；There are protrusion and groove in the shelf passage；It is described Hoisting mechanism be hidden in the forked construction in the groove when reducing；The hoisting mechanism makes described when increasing Forked construction be higher than the protrusion.Compared to manipulator, forked structural texture is simple, at low cost, and assorted sectional material energy Accomplish narrower, so that entire vending machine is narrower, is more suitable for gorge.

The invention proposes: the homing guidance waggon has electrical storage device；The docking facilities have charging unit； The charging unit charges to the electrical storage device.Benefit is to save the trouble of connection power supply line, repeatedly without electric wire Curved metal fatigue, and longer life expectancy.

The invention proposes: the shelf passage has upper and lower limit configuration, prevent the homing guidance waggon from Displacement up and down.

The invention proposes: there is profile in the shelf passage；There is side groove on profile；The side groove is located at type Material two sides, and towards two sides；Side groove is located at the lower section of the plane of section brace cargo；The idler wheel of homing guidance waggon is hidden It ensconces in the groove.

The invention proposes: there is customer's taking mouth in shelf, the shelf passage extends there through.

The invention proposes: there is coupling apparatus, can make the docking facilities in conjunction with the homing guidance waggon Or separation；It is common mobile when the homing guidance waggon and the docking facilities combine；The homing guidance conveying It is independent mobile when vehicle and the docking facilities separate.

The invention proposes: the coupling apparatus has Button Block and button；The Button Block is located at the docking facilities；Institute The button bit stated is in the homing guidance waggon；The Button Block has inclined-plane；The Button Block has electromagnet；Electromagnet is stretched Shaft is pierced by Button Block inclined-plane；The button also has inclined-plane；Described is buckled with button hole, can be passed through by the projecting shaft of electromagnet；Institute The button stated and the Button Block are combined by inclined-plane and projecting shaft.

The invention proposes: there is positive homing guidance waggon and has reversed homing guidance waggon；Two automatic After the commodity that guiding waggon exchange has grabbed, which can be transported to the another of the moving conduit of the docking facilities Side.Multiple homing guidance waggons or gripper Collaboration can enhance function, the performance of system.

The invention proposes: there is processing unit (plant)；There is channel in processing unit (plant)；There is lifting platform in channel, it can raising and lowering； Homing guidance waggon moves in this channel, can pick and place food container on the lifting platform of decline.

The invention proposes: there is interlayer in the processing unit (plant), inner space is divided into upper space and lower space； The lower space includes the mobile channel of the automatic guided vehicle；The interlayer has promotion channel, described Lifting platform promoted channel in go up and down；After the lifting platform rises, upper space is closed together with interlayer.

The invention proposes: there is channel-type storage bin, inside there is channel, both ends perforation；Kinds of goods are stored in the channel In the channel of formula storage bin；The homing guidance waggon enters pick-and-place kinds of goods in channel；The channel-type storage bin quilt It is placed in the shelf passage.The infrastructure cost of the processing unit (plant) is lower, has the advantages of simple structure and easy realization modularization, also compared with Good has cooperated homing guidance waggon to grab cargo.

The invention proposes a kind of methods of the automatic vending system based on homing guidance waggon:

Step 1, the homing guidance waggon enters shelf passage；

Step 2, the homing guidance waggon moves into the commodity of stacking the proximal end of one shelf passage；

Step 3, the homing guidance waggon puts down or unclamps the commodity stacked；

Step 4, the homing guidance waggon is retracted, and is detached from shelf passage；

Step 5, the homing guidance waggon is moved to the position concordant with the commodity for stacking top in commodity；

Step 6, the homing guidance waggon obtains the commodity for stacking top in commodity；

Step 7, the homing guidance waggon band is with the merchandise return, and is detached from shelf passage.

Above method enables the system to the commodity storage for realizing stack densification, while but also commodity are deposited Take more stable reliable, system cost is lower.

Detailed description of the invention

Side view Figure 16 profile schematic cross-section on schematic diagram Fig. 9 immediately ahead of Fig. 1

Just upper front schematic diagram (picture Rotate Left, the left side are upward) Figure 17 side view of Fig. 2

Front schematic diagram Figure 10 profile direction view Figure 18 side elevation view on Fig. 3

Side view Figure 19 side elevation view on schematic diagram Figure 11 immediately ahead of Fig. 4

Side view Figure 20 side view on Fig. 5 side elevation view Figure 12

The positive schematic side view of Fig. 6 profile section view Figure 13 profile direction view Figure 21

The positive schematic side view of side elevation view Figure 22 after Fig. 7 side view Figure 14

The positive schematic side view of side view Figure 23 on Fig. 8 side view Figure 15

The positive schematic side view Figure 44 side elevation view of the positive schematic side view Figure 34 of Figure 24

Schematic side view on the positive schematic side view Figure 45 of the positive schematic side view Figure 35 of Figure 25

The positive schematic side view Figure 46 schematic illustration of the positive schematic side view Figure 36 of Figure 26

Side view on the positive schematic side view Figure 47 of the positive side view Figure 37 of Figure 27

Side view on the positive schematic side view Figure 48 of the positive side view Figure 38 of Figure 28

Side view on schematic side view Figure 49 on the positive schematic side view Figure 39 of Figure 29

Side elevation exploded view on side view Figure 50 on the positive schematic side view Figure 40 of Figure 30

To the positive direction view of diagrammatic cross-section Figure 51 before Figure 31 side elevation view Figure 41

The positive direction view of anterior view Figure 52 on the positive schematic side view Figure 42 of Figure 32

The positive schematic side view Figure 43 side elevation view of Figure 33

Specific embodiment

Most simple embodiment, comprising: shelf, docking facilities and homing guidance waggon.

Docking facilities are one to move up and down numerical control device, there is (cargo) channel on shelf, are also had on docking facilities and goods The parallel Switching-through channel in frame channel.Docking facilities dock one of Switching-through channel and shelf passage.Trolley is along the channel It moves freely.There is the mobile positioning mechanism of homing guidance waggon in some embodiments, in shelf passage, such as guide rail, recessed Slot, protrusion, limit plate, optical signalling track or magnetic signal track etc., homing guidance waggon move along positioning mechanism and It is mobile.

Homing guidance waggon is a kind of microrobot transport carrier, and size is close with commodity, can pick and place and move Commodity.There is load-engaging device (such as pallet, gripper, switchable permanent magnetic iron sucker etc.) when picking, on trolley, can move Cargo on shelf, together with cargo from shelf passage, the Switching-through channel that is moved in docking facilities.Then, cargo It is moved to customer's taking mouth.

Homing guidance waggon can be separated from each other with docking facilities, and when the two separates, homing guidance waggon is directly entered Shelf passage and mobile traveling in it can leave the range of docking facilities completely and and be detached from its support.Homing guidance is defeated Send vehicle preferred roller type construction, although other forms such as hanging wheel pulley, crawler belt, ball bearing etc. can also be reached by certain designs The effect separated with docking facilities, but structure is more complex.

In most simple embodiment, wherein above shelf passage end connection customer's taking mouth.Docking facilities keep switching logical Road is docked with the shelf passage, and the small handlebar cargo in Switching-through channel is put down in the channel end, and then cargo is pushed away and falls customer Taking mouth.Shipment is completed.

Single docking channel embodiment: as shown in the schematic diagram Fig. 1 of front, kinds of goods (71) are located at shelf type for its internal structure On material (21).Homing guidance waggon (73) includes movable base and load-engaging device.Homing guidance waggon (73) obtains it In a cargo (74) that will be sold, and finally send to customer's taking mouth (78).Then, the automatically-controlled door of customer's taking mouth (78) It opens, customer is taken out kinds of goods, and sale terminates.

During this, micro computer controls homing guidance waggon and numerical control device switching according to preset coordinate parameter Movable device so that adapter sectional material (75) is moved up and down along docking channel (77), and docks, so with one of them storage rack section bar Homing guidance waggon is mobile along corresponding shelf passage (76) afterwards, takes out cargo back and forth, then adapter sectional material (75) edge again Docking channel (77) up and down direction it is mobile, and storage rack section bar corresponding with customer's taking mouth (78) docks, same homing guidance Waggon band is round-trip along the corresponding shelf passage of customer's taking mouth with cargo, and after customer's taking mouth puts down cargo, returns Adapter sectional material.The example structure is simple, and cost is relatively low.

Rotatable adapter sectional material embodiment: switching device has rotating mechanism, and adapter sectional material is turned to.As just gone forward Shown in square view Fig. 2, the adapter sectional material of switching device has rotating part (97) and fixed part (95), and the two is in close contact, seam (96) minimum, so that homing guidance waggon (98) can smoothly pass.Trolley in the embodiment has front and back tropism.When certainly When dynamic guiding waggon needs the storage rack section bar cargo on the right of the movement of the shelf shape material on the left side, homing guidance waggon It is moved to rotating part (97), the rotating mechanism in switching device makes the rotating part of adapter sectional material rotate 180 degree, in this way in rotating part On homing guidance waggon follow turn to the right storage rack section bar, then can move to the right cargo shift place To the shelf shape material on the right.Fixed part does not rotate during being somebody's turn to do.In short, system needs the left side to pick and place cargo, rotating mechanism is just Adapter sectional material rotating part and homing guidance waggon is set to turn to the left side, system needs the right pick-and-place cargo to go to the right.Certainly, If the trolley in other embodiments has two sets of load-engaging devices, front and back all has, then rotating mechanism and switching without point of front and back The rotary configured of profile can omit.

The storage rack section bar embodiment of solid arrangement: shown in anterior view Fig. 3 as above, adapter sectional material (103), in addition to above moving down Except dynamic, it can also move horizontally.Adapter sectional material, which can be moved upwards up to, at this docks place with storage rack section bar (101), may be used also Place is docked with storage rack section bar (102) to be moved horizontally to.There is multiple row to abut side by side in shelf shape material same level in this way, because Dense arrangement, it is having the shape of a real square in appearance as vending machine, it is flat to be different from other embodiments.The embodiment is wide compared with suitable space Wealthy occasion.

Two or more docking channel embodiment: its internal structure has the first docking channel as shown in the schematic diagram Fig. 4 of front (84) and second docks channel (87), correspondingly has the first adapter sectional material (82) and the second adapter sectional material (88), docking facilities make Adapter sectional material can move up and down in docking channel accordingly.There are the commodity space (86), commodity space root between shelf shape material It varies according to demand, commodity (91) are in a row placed wherein.The shipment for selling a commodity is as follows:

A. quotient can be placed on first group/first row storage rack section bar (83) and second group/secondary series storage rack section bar (92) Product.Homing guidance waggon (89) obtains a commodity from secondary series storage rack section bar (92), and returns together with the commodity (90) Onto the second adapter sectional material profile.

B. the second adapter sectional material is docked to the corresponding profile of communicating passage (85) again, the first adapter sectional material also company of being docked to The corresponding profile of circulation passage (85), homing guidance waggon are transferred to the first adapter sectional material by communicating passage (85).

C. the first adapter sectional material docks first row corresponding profile again, and then commodity are placed into quotient by homing guidance waggon Product/food processing equipment (80), and retract the first adapter sectional material.Commodity/food processing equipment can be handled commodity, example Such as, drink is slightly heated or is freezed in front of sales, so that drink is more palatable, in another example being processed, being cooked to drink/food Adjust (micro-wave oven, hot water/hot air/hot steam spray gun etc.), heat preservation, cooling, refrigerating, regulating and controlling humidity, beautification, addition ingredient Deng.

D. homing guidance waggon takes out commodity from commodity process equipment (80) and again returns to the first adapter sectional material.

E. the first adapter sectional material docks corresponding profile again, and then commodity are placed into customer and take object by homing guidance waggon Mouth (81), and the first adapter sectional material is retracted, after customer is taken out commodity, sale is completed.

F. the one the second adapter sectional material similar to above docks again, and trolley returns to the second switching via communicating passage (85) Profile.

Two docking channels, which are arranged, enables the present embodiment that commodity are done with more complicated processing, and related automatic vending system is special It is suitble to need the commodity of heat treatment or isothermal holding, such as food to be cooked and drink etc..

Multiple docking channel embodiments are similar with above-mentioned two docking channel, only have more multiple row to dock channel, Geng Duozhuan Direct type material, more multiple row storage rack section bar, are not repeated herein.

Promote forked type embodiment, at low cost, structure is simple, internal structure is as shown in side elevation view Fig. 5, comprising: shelf, Docking facilities and homing guidance waggon.Wherein have on shelf storage rack section bar (21), docking facilities there are adapter sectional material (27).Wherein Homing guidance waggon includes: movable base (25) and load-engaging device.In the embodiment, promoting fork device (24) is wherein A kind of preferred load-engaging device.Here profile refers to the vertical bar metal or plastic material for having cross sectional shape, very widely used.

Movable base (25) has mobile mechanism, can be along profile (21) (27) activity.For example, mobile mechanism has idler wheel (22) It is mounted on the foot beam (23) of movable base two sides.Fork device (24) are promoted to be installed on movable base (25).Cargo is placed on On storage rack section bar.Promoting fork device has a forked construction, and when reduction can be hidden in the gap of profile, in this way can be on profile Arrangement of goods, when promotion, which can lift and move, is placed on cargo on profile.Adapter sectional material (27) is mounted on the upper and lower of docking facilities On movable device (conventional numerical control device, movable device of referred to as transferring here), it can be docked with multiple storage rack section bars (21).Seam (26) very little does not influence homing guidance waggon and moves along guide rail.Movable base needs the mobile arrival frame type from adapter sectional material When material, switching movable device docks adapter sectional material with a wherein storage rack section bar, at this moment movable base is moved along the track of profile It is dynamic, so as to move on the storage rack section bar, and pick up the cargo on the storage rack section bar.After having picked up cargo, automatically It guiding waggon meeting band and returns to adapter sectional material with cargo, movable device of then transferring makes adapter sectional material dock or switch again, from Dynamic guiding waggon continues band with goods movement to predetermined position, to realize the conveying of cargo.

The all parts of the embodiment are described in detail below:

Shelf passage: having shelf passage in shelf, have storage rack section bar in shelf passage, have adapter sectional material in docking facilities. The present invention does not limit both profiles using consistent configuration, but in the embodiment, considers cost factor, including storage rack section bar And adapter sectional material all uses same configuration.As shown in section view Fig. 6 of profile, there is the vertical fin for supporting cargo Protrusion (1).(6) fluted between protrusion, are equally the lift forks of sheet, and when reduction can hide in a groove.On profile Have guide rail (3), homing guidance waggon is by idler wheel along guide rail activity.In other embodiments, the shape of guide rail (3) Movable base to improve frictional force, can be increased using the shape of similar more contract bands (shape of idler wheel also makees corresponding change) Thrust, and prevent from skidding.Limit configuration (2) is for preventing movable base from de-orbiting from top.Profile has mounting groove to be convenient for Installation is fixed.Profile has two sides mounting groove (4) and lower section mounting groove (5), can install screw or rivet.

The movable base of homing guidance waggon: as shown in side view Fig. 7 and side view Fig. 8, homing guidance waggon tool There is independent or autonomous power device, can independently drive and be moved along guide rail, be installed on the foot beam of movable base two sides There are front wheel (31) and rear roller (32).In the embodiment, front wheel is passive roller, follows the work of homing guidance waggon The relative motion of moving base and guide rail and rotate, rear roller is power wheel, pass through the speed reduction gearings such as gear driving or motor It directly drives.According to the actual situation, there are also the limit shaft (36) with the cooperation of profile limit configuration, movable base disengaging type is prevented Material.

Fork device is promoted to be installed on movable base by fixed mechanism (34).Telescoping mechanism (33) pushes hoisting mechanism (38) push plate (39) makes the forks piece (37) in forked construction i.e. figure is horizontal to rise, otherwise decline.To hold up cargo or lower Cargo.

In some embodiments, for two-way acquirement cargo, homing guidance waggon respectively has a set of in positive and negative moving direction Hoisting mechanism, while respectively having a set of load-engaging device.For example, there is two sets of promotion fork devices to install in such a way that positive and negative (left and right) is symmetrical On movable base, then when telescoping mechanism (33) is retracted from left end, then the other end, that is, right end can push mentioning for the right Rise fork device.

The load-engaging device of homing guidance waggon: promotion fork device is used in the present embodiment.From another viewpoint, such as upside Shown in view Fig. 9, when push plate (13) is pushed forward, hoisting mechanism (12) makes the forked construction/forks piece for promoting fork device (11) it is promoted, and rises and expose in the gap of profile, developed simultaneously cargo, makes to place the cargo on profile and connects with profile disengaging Touching.When push plate (13) is released, gravity reduces forks piece (11), and hides in the gap of profile, while on profile Arrangement of goods.Forks piece (11) is combined by tie point (15) and hoisting mechanism (12), and electric resistance welding/spot welding is ideal here Combination.The entire fork device that promoted is connect by support (14) with movable base.It is necessary that the present invention does not limit forked construction It is forks piece shape, the other types skewer shape of said function is equally possible.

In other embodiments, gripper, negative pressure sucker or magnet sucking disc etc. can be used, and cooperate the type being accordingly configured Material.For example, be more suitable for negative pressure sucker when the thin slice for the stacking that sales level is placed fills commodity and pick up cargo from top to bottom, Cargo is set to be detached from lower stack object or profile.In another example when the commodity that sale spherical shape is easy to roll, it can be in the fork of lift fork Groove is processed in columnar structure/forks piece, in terms of profile, corresponding spherical commercial size one by one is also processed in fin protrusion Storing groove, prevent spherical commodity from arbitrarily shifting.

Docking facilities: docking facilities usually have the mechanical actuating unit of the 1-4 freedom degree of numerical control, convey homing guidance Vehicle can be transferred to different storage rack section bars.Trolley can be caught with manipulator, and trolley is put on different shelf shape materials. Or setting numerical controlled machinery barb/back-off, homing guidance waggon is relayed and hooking or clasping homing guidance waggon On different storage rack section bars.

In the present embodiment, adapter sectional material is used, as a docking facilities.Mechanical actuating unit is switching type Material is moved to sustained height, same axis, and guarantee it is close to each other make to be reduced to the gap of storage rack section bar do not influence to lead automatically Draw the mobile degree of waggon.In this way, homing guidance waggon can freely automatically band with goods movement to adapter sectional material structure At docking facilities on.

The specific configuration of the mechanical actuating unit of the 1-4 freedom degree of numerical control in docking facilities belongs to well-known technique, this theory Bright book is not repeated.

Energy supplying system and charging unit: conductor rail, telescoping mechanism or idler wheel in movable base can be set along profile Driving mechanism electric energy (the same just like vehicles tramcar) can be obtained from conductor rail by conductive slide plate.

Using the scheme of low cost in the embodiment, charging unit is set (such as in the adapter sectional material side of docking facilities Positive and negative electrode etc.), electrical storage device is set in the movable base of homing guidance waggon, for example, with rechargeable battery (plumbic acid electricity The chemical cells such as pond, lithium battery, nickel-metal hydride battery).In another example electric energy is renewed with multiple farad capacitors, with the prior art, system one Secondary charging can probably be run 23 minutes, and the charging time may be as little to be very suitable to such application less than one second.So work as activity When pedestal is moved to the end of adapter sectional material, system will charge to movable base.When movable base leaves adapter sectional material When, then homing guidance waggon is powered mainly by energy storage equipment.

Shown in one charging unit embodiment side view Figure 12 as above, when homing guidance waggon is mobile to electrode direction (i.e. adapter sectional material end), charge power supply electrode (109) pass through housing electrode hole (108), directly with the spring leaf of internal circuit Contact, charge inside circuit is turned on, into charged state.Electrode hole can be prevented with wrapped with insulation to enhance safety Only electrode surprisingly touches homing guidance waggon metal shell.Charge power supply electrode is material usually using red copper, and surface is electric Plate wearing layer.The settable elastic buckles of the spring leaf contacted with electrode, clasp electrode end, and the two contact is made to have more stability.? The spring structure that can be contacted using similar battery case with battery cathode, more preferable using elasticity if spring in this way, longer life expectancy.

The combination and working method of system: from another angle, in terms of profile ends direction, such as along profile direction view figure Shown in 10, profile (45) has multiple fins raised (46), and the forked construction/forks piece (47) for promoting fork device is hidden in fin Groove between protrusion, mobile cargo when, can just be lifted up exposing and support plays cargo, thus.Profile limit configuration (48) cooperate with limit shaft or roller shaft (49), limit the scope of activities of movable base, prevent that unexpected (such as to be put into carrying automatic When vending machine) abjection guide rail (44).The shape and idler wheel shape of guide rail (44) cooperate.Wherein front wheel (43) compared with It is small, it is passive roller.Rear roller (41) is connected with transmission mechanism (42), and the movable base edge of homing guidance waggon is driven to lead Rail movement, thus mobile cargo.

The communication of homing guidance waggon: homing guidance waggon can be when being connected to charging with docking facilities, with main electricity Brain communication.It can also be by the way of wireless communication.In another example laser or LED signal transmitting dress can be arranged at docking facilities It sets, to the homing guidance waggon firing order at shelf.Homing guidance waggon can also be in the same way to tipping Set transmission signal.

Further, if automatic vending system does not use whole metal case, i.e., without shielding in the case where, trolley can be with Directly communicated using radio communication module with main control computer.And main control computer is in addition to being placed in automatic vending internal system, Outside can be placed in.

In some embodiments, trolley as above uses optic communication and docking facilities to transmit information, and then docking facilities connect For line to radio module (a variety of mature technologies such as RS485), relevant information is sent to internet by radio module, or is received simultaneously The information in terms of internet is forwarded, i.e., transmits the information from Cloud Server by internet, is controlled by Cloud Server small The movement of vehicle.So there is no need to the circuits in the higher high-performance main control computer of small interior setup cost, automatic vending system Only it is made of one-chip computer module.It is traded in transaction by mobile phone, transaction is completed by server end, after the completion of transaction, server control Trolley and other equipment in automatic vending system processed complete shipment device.Because high-performance main control computer is omitted, currency is handed over Easy device and touch screen LCD, such cost declines to a great extent, with the obvious advantage.

Narrow embodiment, it is another important embodiment.It is particularly suitable for gorge two sides sale drink, snacks etc., together Sample cost is very low.

Shown in side view Figure 11 as above, movable base (63) is mobile along the guide rail of storage rack section bar (61), lift fork dress Forked construction/the forks piece for setting (62) is hidden in the groove of storage rack section bar fin protrusion.

Again from another viewpoint, as having in the middle part of storage rack section bar (section) narrow along shown in the view Figure 13 of profile direction Neck (66), neck two sides have side groove (67).Side groove is towards profile two sides, and putting down positioned at storage rack section bar supporting goods The lower section in face.The internal drive motor (65) of movable base is together with idler wheel, all in the groove of side.Movable base top passes through Side plate (64) and supported.Because profile section is high narrow shape, side plate is also higher.Since motor idler wheel etc. drives Device is largely all imbedded in the space of side groove, so the structure can occupy less width, thus is more suitable for narrow Narrow passageway.

Fixed device: when vending machine install carry when (such as in the case where being inverted or overturn), in order to It prevents homing guidance waggon from arbitrarily shifting, locking device can also be set in adapter sectional material side, can lock and return to switching The homing guidance waggon of profile.

In some embodiments, locking device can be buckle and hook.Buckle and hook are clasped when combining by spring, It is opened and closed when needing to separate by small machine and magnet control, to movable base ining conjunction with or separate (reference or directly use The structure of supermarket's doorway storage tank chamber door lock, the two construction is similar, and specific structural details belong to knowledge).Work as automatic selling Device is sold in when working normally operation state, buckle is separated with hook, and movable base can arbitrarily be moved along guide rail.When certainly When dynamic selling system is in off working state, buckle is closed, and movable base is locked out movement.Or movable base is every Once when adapter sectional material stops, locking device can all lock movable base, only when movable base needs mobile, lock Determining device can just open.

Shown in another embodiment side view Figure 15 as above, buckle (106) is located at the motor shaft end of motor (107), non- Under lock state, buckle is consistent with card hole (105) angle at the homing guidance waggon back side, and the movement of homing guidance waggon is not It is restricted.When sensor or switch detect that homing guidance waggon is moved to a certain position towards buckle, homing guidance is defeated Vehicle is sent to stop movement, at this moment the card hole wall of homing guidance waggon is just corresponding with the groove of buckle, and buckle (106) turns to phase Angle is answered, which is 90 degree of rotation, and buckle wall so is snapped locking, therefore trolley enters lock state, Bu Nengyan Guide rail moves freely.When need to unlock state when, motor shaft goes to former angle together with buckle, i.e., with the consistent angle of card hole Degree, trolley can be along guide rail free movement.

Related sensor: being arranged sensor by many places, can increase the stability of system, for example,

A. by touching sensor or short range infrared sensor, confirm that movable base is in active procedure in mobile foundation The no obstacle, or row of touching is to end of travel, so as to compare or confirm the cargo coordinate information stored in computer.

B. confirmed in anterior-posterior approach in motion process by reflective sensor, confirm that profile or guide rail whether there is, it must It promptly stops and stops when wanting, prevent in motion process, the idler wheel of movable base steps on sky.

C. above-mentioned locking device setting sensor confirms whether movable base is locked.

D. scale is stamped on profile or conductor rail, cooperates sensor, the moving distance of movable base can be confirmed, thus Displacement error is corrected, faulty operation is prevented.

E., flute profile photoelectric sensor is set on homing guidance waggon, when the anti-dazzling screen for being used as coordinate modification cuts through flute profile light Electric transducer, i.e., refreshable homing guidance waggon changing coordinates.

F. by infrared sensor, determine in forked construction/forks piece of lift fork whether there is cargo, so that debug is grasped Make.

Homing guidance waggon charging unit embodiment:

As shown in rear side elevation view Figure 14, in+24v the charging unit at homing guidance waggon back, charging electrode anode (240) and charging electrode cathode (241) and communication electrodes (242) it, when homing guidance waggon returns to docking facilities, and arrives When up to end, when contacting with the elastic slice of the counter electrode of the charging unit in docking facilities, charging is automatically turned on.

It is taken off in addition, infrared light entering light via hole (243) and infrared light go out light guide through hole (244) for homing guidance waggon From docking facilities, when communication electrodes do not contact, homing guidance waggon and main control computer carry out IR modulated signals and lead to Letter.

With can elevator machinery claw embodiment:

Shown in side view Figure 12 as above, which can be used reduced form guide rail, and convex guide rail (106) cooperates concave rolling It takes turns (105) to roll thereon, centre is the plate (107) of arrangement of goods.

For another example shown in profile schematic cross-section Figure 16, another embodiment, concave guide rail (109) cooperates convex idler wheel (108) it rolls thereon, centre is the plate (110) of arrangement of goods.

Because not having indent and convex structure, the profile cost of both the above embodiment is very low, is suitble to single large-scale application.

Have band can elevator machinery claw homing guidance waggon:

As shown in side view Figure 17, mechanical gripper device (112) is mounted on hoisting mechanism (114), so that gripper fills Setting can move up and down relative to homing guidance waggon (115).The gripper for thering are motor (113) to drive in mechanical gripper device (111).Gripper elastic can open and close, and grab the cargo between two pawls.

As shown in side elevation view Figure 18, two pawls all have joint (118) that two pawls is enable to open and close in parallel.On the inside of gripper (117) Fluted or detent can inlay the elastic materials such as rubber strip, it is made more securely to grab cargo.Two pawl ends have reflection simultaneous right Infrared sensor (116) are penetrated, can detect whether cargo moves end by pawl, moreover it is possible to detect whether cargo is moved in pawl Centre.

Its working method, when needing to obtain cargo, homing guidance waggon is opened towards goods movement, two pawls.It is hot When outer sensor detects the intensity wave crest of reflected light, that is, indicate two pawl end of cargo lug boss face.Then homing guidance is defeated It send vehicle to continue to move to, when infrared sensor detects the trough of reflected light, that is, indicates two pawl of aligned gaps face of freight hold End.This process is, when cargo relative movement is between two pawls, and cargo gap is not crossed in two pawl ends, two pawls It closes, clamps cargo.It is then lifted out mechanism (114) and lifts gripper and cargo.Then homing guidance waggon is returned to tipping It sets, and finally goods movement to customer's taking mouth.Hoisting mechanism lowers gripper, and then gripper unclamps cargo.Finally certainly Dynamic guiding waggon leaves customer's taking mouth, and customer takes cargo away and completes sale.

In order to enhance system stability, sensor or touch-switch can also be arranged for guide rail direction in gripper end, Once triggering, i.e., staff does not set cargo location, or other accidents occur, even can showing error of computer, and execute mistake Accidentally processing routine.Again for guide rail direction, may also set up just immediately ahead of homing guidance waggon gripper main part Cooperate to reflection and opposite type sensor described in sensor (119) and the preceding paragraph, when sensor detect front cargo close to when, Even homing guidance waggon slows down, to prevent -- collision, or deceleration leads to wheel-slip suddenly, and then leads to computer coordinate data Error, and cause subsequent error.

Telescopic arm Button Block formula separates homing guidance waggon embodiment:

Some embodiments have coupling apparatus.As shown in side elevation view Figure 19 and side view Figure 20, two figures join together to see, knot It attaches together and is equipped with Button Block (127) and inclined-plane button (123), both homing guidance waggon (122) and telescopic arm (124) are incorporated in one It rises, the two faying face is an inclined-plane.There are mechanical gripper device (121) on homing guidance waggon.There is active module on telescopic arm (125), there are stepper motor (126) on active module.Inclined-plane button is incorporated in one by screw (137) and homing guidance waggon It rises.There are electromagnet (128) below Button Block.There are projecting shaft (132) on electromagnet.Projecting shaft passes through button hole (138) and bearing (133), such inclined-plane button is just locked by Button Block, without sliding along inclined-plane (136).Inclined-plane buckle there are also positioning key (131) and Keyway (134) secondary locking on Button Block keeps the two combination more stable.

Docking facilities include a 3D rectangular co-ordinate numerical control executive device, and telescopic arm is its end.When Button Block (127) and tiltedly When both surface buckles (123) need to separate, telescopic arm, which moves down, makes the projecting shaft (132) on electromagnet deviate from inclined-plane button, thus Homing guidance waggon and telescopic arm separation.When limited space or there is barrier, when telescopic arm can not move down, electromagnetism Tie Tong Electricity makes the quick retracted downward of projecting shaft, and then telescopic arm active module rearward retracts, thus homing guidance waggon and flexible Arm separation.

When both Button Block (127) and inclined-plane button (123) need to combine, telescopic arm moves from bottom to top to be made on electromagnet Projecting shaft passes through the button hole of inclined-plane button, so that the two be made to combine.Equally, when limited space or there is barrier, electromagnet energization makes The first quick retracted downward of projecting shaft, after telescopic arm is moved to setting coordinate, electromagnet discharges projecting shaft again, and passes through button Hole combines homing guidance waggon and telescopic arm.After the two combines, telescopic arm energy band is led with homing guidance waggon and automatically Draw waggon activity, and is transferred on other shelf passages or shelf.

In the settable short laminar barrier in shelf passage end, prevent homing guidance waggon from inadvertently falling off goods Frame.So the telescopic arm of docking facilities in conjunction with homing guidance waggon after, only need telescopic arm homing guidance waggon slightly Lift, across barrier, homing guidance waggon can be extracted out in shelf passage.

Specific configuration of the two width figures all without description charging pole spring leaf and communication line spring leaf, but these constructions are to deposit , there are many embodiments.

The advantages of embodiment is that the collimation requirement to multiple shelf passages is lower, to the precision of shelf passage put It is required that it is lower, lower, the large-scale applications such as suitable multiple groups shelf are required manual debugging.

The mobile embodiment for stacking commodity of homing guidance waggon:

In the embodiment, Vending Machine stacks commodity using mechanical clamp/homing guidance waggon access by a kind of Method, greatly improve interior product puts density.As positive one Figure 21 of schematic side view, Figure 22, Figure 23, Figure 24, Figure 25, Shown in Figure 26, Figure 21-26 shows respectively wherein 6 states or step of this method:

Step 1, as shown in figure 21, computer controls mechanical clamp/homing guidance waggon (166) in system, prepares to take out One stacks the commodity (lunch box) put, hoistable platform (165) bands of docking facilities on the hoistable platform of docking facilities from Dynamic guiding waggon is that a kind of support profile (164) is mobile here to the bottom plate in the channel for stacking commodity (160).The two is final Alignment, is prepared to enter into next state or step.

Step 2.1, as shown in figure 22, homing guidance waggon is advanced into the channel in support profile (164), from There are the double pincers that can be opened in parallel in dynamic guiding waggon front, and double pincers are installed on the lift apparatus of homing guidance waggon, so Double pincers can move up and down, and there are infrared emission sensor in double pincers ends.At this moment double pincers open, and homing guidance waggon continues to Forward It is dynamic.When the infrared light of double pincers end infrared sensors is shielded or partition, illustrate double pincers ends just into lunch box Range, then according to the size and placing direction of the lunch box in computer data, homing guidance waggon continues to move to certain distance. It gets off after stopping, double pincers tightenings, and be close to bottom lunch box (163) two sides double-walled are slightly recommended upwards, and it is bilateral to clasp lunch box, and So that the lunch box that bottom lunch box and top are stacked is promoted together, and disengaged with corresponding support profile.

Step 2.2, as shown in figure 23, three lunch boxes being stacked include top lunch box (161) and bottom lunch box (163), End/proximal end/the inlet in support profile (164) channel is transported to by homing guidance waggon (166).At this moment homing guidance is defeated The hoistable platform (165) for sending vehicle main body to be located at docking facilities.

Step 3, homing guidance waggon reduces double pincers, and lunch box is placed on channel base plate.

Step 4, as shown in figure 24, double clamp of homing guidance waggon is unclamped to two sides.Then, to after homing guidance waggon Fang Yidong is retracted into the hoistable platform (165) of docking facilities completely.Then the hoistable platform of docking facilities slowly moves upwards, from Infrared distance sensor (167) on dynamic guiding waggon is moved up with the hoistable platform of docking facilities, at the same before making to Scanning, and detect to stack the uneven of lunch box, infrared sensor can detect the distance of lunch box flange in uphill process It can be a minimum, can analyze in conjunction with the data of the lunch box size in reference database by this minimum and obtain lunch box The height of the actual quantity and height and position of stacking and lunch box itself.

Step 5, as shown in figure 25, computer calculates top according to the scanning result of above-mentioned infrared distance sensor (167) The respective coordinates of the hoistable platform (165) of the height coordinate and docking facilities of lunch box (161).The hoistable platform of docking facilities Respective coordinates are moved to, at this moment the height of the upper surface of the double pincers of homing guidance waggon is slightly below the height of lunch box flange lower surface Degree.Then, homing guidance waggon moves forward, so that the double pincers of homing guidance waggon cross lunch box center of gravity to recommending the suitable of lunch box Position.

Step 6, as shown in figure 26, double pincers are slightly promoted, and lift that lunch box is bilateral so that the bottom of top lunch box (161) with Other lunch boxes stacked disengage.

Step 7, homing guidance waggon band is retreated with the top lunch box (161) be picked up or picked up, and falls back on docking completely At the hoistable platform of device.Lunch box is removed in this way, is then moved to other equipment again, to be processed or be sold.

Above-mentioned steps operate repeatedly, can be according to from right to left in figure, and then order from top to bottom, takes out piece by piece The lunch box of stacking.

This method can also carry out reverse operating, i.e., using docking facilities adjustment height, homing guidance waggon is lunch box It stacks in channel end/proximal end/inlet, the lunch box that end permutation stacks is held up together piece by piece then, movement is simultaneously put into logical Vacancy in road (in some embodiments, if construction of the homing guidance waggon without picking-up, is the method pushed, makes to stack Commodity be slid onto designated position), then homing guidance waggon return docking facilities, the process pass through homing guidance waggon Carry the high density storage for realizing stack.

In some embodiments, in order to reduce system cost, the monolithic of low cost is used inside homing guidance waggon Machine, then for complicated operation being realized by server, i.e. the implementation of homing guidance waggon and mechanical clamp is any multiple Miscellaneous operation/movement front and back, single-chip microcontroller all can be controlled and be implemented by server by Internet of Things module and server communication These compound actions.

The mobile embodiment for stacking commodity of telescopic arm pincer mechanical device

Access in a upper embodiment stacks commodity method and is not only suitable for homing guidance waggon singly, is also applied for it His pincerlike mechanical device, such as mechanical clamp/flexible gripper/telescopic mechanical arm (181) in Figure 29, the telescopic mechanical arm are visited Enter in shelf, executes the method that the access in a upper embodiment stacks commodity.When taking out stacking commodity, first the commodity of stacking It is whole slightly to hold up, it moves integrally and arrives shelf end/proximal end/inlet.It (can not also be held up in certain some embodiments, directly Stacking commodity are directly dragged to shelf passage inlet, this depends on specific mechanical structure, for example there is hook in caliper end Situation.) then, recycling each sensor, (infrared distance sensor, infrared emission sensor or other sensors such as image Head and ultrasonic distance measurement etc.) feedback and database in commercial size information, obtain from top to bottom stack commodity one by one.Together Sample, reversed reverse-order operation, stacks commodity in shelf passage inlet and stacking commodity is integrally then moved on to corresponding position, i.e., It can be the high-density laminated storage of each commodity.

Overtravel access stacks the embodiment of commodity

The embodiment, as shown in positive side view Figure 27, the maximum of the travel limit docking facilities platform (315) of docking facilities Lifting height, its maximum vertical penetration is higher than shelf upper layer (311), but can not make homing guidance waggon (314) both arms Higher than second lunch box, if that stacking commodity (310) are placed at shelf top-level entries as above embodiment It is the commodity that can not obtain top layer, because of trolley insufficient height.So stacking commodity (310) can integrally be carried arrival It is whole defeated in homing guidance to stack commodity that is, such as the remaining position for stacking commodity (316) in this way for frame lower layer (317) inlet It send within vehicle both arms stroke.Homing guidance waggon in this way by the feedback information of analyte sensors (313), then from top to bottom by One obtains commodity (312).So because the commodity other than mechanical trip can be obtained, it is close that vending machine is able to achieve higher warehousing Degree.

The embodiment of homing guidance waggon fulcrum type locking device:

The embodiment, as shown in positive side view Figure 28, the locking device in the embodiment includes latching (171), top pillar (172) and lifting device (174).When homing guidance waggon returns to the hoistable platform of docking facilities, and enter latched position, i.e., The position that top pillar is aligned with lock (171), motor (173) drives lifting device (174) to rise, and top pillar (172) is fixed on and mentions Device is risen, when lifting device rises, top pillar can also be moved up, and until insertion lock and reached bore end in lock, that is, locked Position fixing.Meanwhile system uses this kind of transmission mechanism that can be self-locking of fine pitch screw rod, then, when top pillar is inserted into lock inner hole And when reaching (the reaching locking coordinate) of lock, such homing guidance waggon is fixed, into lock state.Because of top Column (172) and clamp shared lifter, such locking device are not necessarily to additional independent actuating mechanism, thus additional structure Simply, cost is relatively low.

When need to unlock state when, only need motor backwards rotation make lifting device (174) decline, reach unlock Coordinate, and top pillar (172) is made to be detached from the lockhole for latching (171), such homing guidance waggon, that is, freedom of entry motion state.

When vending machine is replaced position, is handled upside down, vending machine may be fallen, or even be inverted, automatically Guiding waggon is likely to fall if without fixing, or even damage.The locking device makes homing guidance waggon will not be because It can not restore normal operating conditions to shift in the handling process.The locking device makes vending machine replace position When, intervene without technical staff to resume work again.

The homing guidance waggon embodiment mixed with telescopic mechanical arm:

The embodiment, as shown in positive schematic side view Figure 29, stretch gripper/telescopic mechanical arm (181) and homing guidance Waggon (187) is used in mixed way.For the embodiment there are two liftway, telescopic mechanical arm occupies the liftway on the left side, lifting Platform (188) occupies the liftway on the right.There are multiple storing shelf plywoods (185) inside whole system.Homing guidance conveying Vehicle obtains a commodity, i.e. lunch box (186) from one of them, and returns to hoistable platform.

Then, hoistable platform drops to the position concordant with left and right through channel laminate (191), homing guidance waggon edge Path (189) pass through left side liftway lunch box (186) is moved to left and right through channel laminate (191) left end exchange Position (195).After homing guidance waggon discharges lunch box, the hoistable platform (188) on right side is returned to alone, and can be according to feelings Condition continues to carry lunch box.

In the embodiment, telescopic mechanical arm (181) is driven using rack gear (182), to realize flexible.And telescopic mechanical arm Double pincers by motor (183) drive worm and wormwheel control.When telescopic mechanical arm (181) moves up and down, it is in indentation state.It stretches Contracting mechanical arm drops to bottom, and then double pincers stretch out the lunch box of clamping homing guidance waggon release above.Obtain lunch box retraction It returns, increases and stretch out with same lunch box (180), lunch box is put into commodity process equipment (194).There is branch in commodity process equipment Support laminate (193) and automatic isolating door (192).Automatic isolating door probes into front and back automatic open-close in mechanical arm.Commodity process equipment (194) it is disposed to lunch box, telescopic mechanical arm is taken out lunch box again.

In short, telescopic mechanical arm (181) and homing guidance waggon (187) deliver lunch box by exchanging position (195), take over It carries in lunch box to different positions and equipment, to realize the complex process to commodity.

Telescopic mechanical arm operates under hot environment (such as in oven) than homing guidance waggon with being readily designed to be suitble to, with And quickly operate repeatedly, and homing guidance waggon is more easily implemented and carries commodity over long distances, the two cooperation can learn from other's strong points to offset one's weaknesses.

More homing guidance waggon embodiments in the same direction:

In the embodiment, as shown in positive schematic side view Figure 30, pass through homing guidance waggon A (216) and homing guidance Waggon B (218) cooperate, realize to commodity/lunch box complex operations, it may be necessary to be provided with it is more than two from Dynamic guiding waggon.Right side hoistable platform lower layer (217) rises to the position concordant with left and right through channel (219), while left side The hoistable platform upper layer (212) of docking facilities is also concordant with left and right through channel (219).The homing guidance waggon on right side in this way A (216) can keep straight on and can grab commodity and be put into customer's load-engaging device or commodity process equipment (210).Commodity processing is set Standby (210) have automatically-controlled door (211) that can enter front and back folding in homing guidance waggon.

Same right side homing guidance waggon B (218), in left side, hoistable platform lower layer and left and right through channel (219) are flat Together, when and right side hoistable platform upper layer (215) is also concordant, move right arrival right side hoistable platform upper layer (215), so Afterwards, cooperated by the lifting of right side hoistable platform, grab the commodity/lunch box (213) of right side rack top layer (214).By with it is upper Similar operation is stated, commodity are grabbed to commodity process equipment (210), various complex process are carried out.

The embodiment is suitble to large-scale automatic vending system, and cost is relatively low.

Gripper embodiment is moved left and right in channel:

The embodiment, shown in side view Figure 31 as above, commodity/Boxed beverage (200) are arranged within channel (202). It moves left and right device (201) to be installed on homing guidance waggon lifting device/lifting device, be driven by motor (207), energy Enough move left and right end structure such as gripper (206) etc..Motor (205) drives reverse-flighted screw by gear, can drive double (204) are clamped to clamp or open.

Double pincers (204) move left and right to predetermined position, the Forward of homing guidance waggon, and double pincers are probeed into from commodity two sides, so A wherein commodity/Boxed beverage (203) is clamped afterwards, and subsequently the lifting device of homing guidance waggon slightly above mentions, and makes It obtains double clamping band to move up with commodity, so that commodity are disengaged with bottom supporting surface, then moves left and right device adjustment left-right position, Homing guidance waggon can move commodity in this way.Homing guidance waggon reaches in predetermined position, such as customer's load-engaging device, Device adjustment left-right position is moved left and right, double pincers open, and commodity are released immediately.

The embodiment is suitble to store and sell at lower cost the lesser commodity of size.

Embodiment of the double layer lifting platform homing guidance waggons double in opposite directions in the mobile commodity in liftway two sides:

In the embodiment, automatic vending system passes through two reversed homing guidance waggons and the docking facilities of bilayer Hoistable platform and carry commodity, enable commodity to cross the liftway of docking facilities, at left and right sides of liftway Position, relative to the embodiment shown in Fig. 2 turned to, equipment integrally can be thinner, and structure is simpler, such as positive side view Shown in schematic diagram-Figure 32, Figure 33, Figure 34, Figure 35, Figure 36, Figure 32-36 shows respectively this in the mobile commodity in liftway two sides Method 5 steps:

Step 1: as shown in figure 32, hoistable platform is mobile so that hoistable platform top layer (223) is concordant with shelf channel, Positive homing guidance waggon (221) obtains commodity/food container (222) from the shelf on the right of liftway, and retracts liter It drops platform top layer (223).In the step, reversed homing guidance waggon (225) rests on hoistable platform bottom (224).

Step 2: as shown in figure 33, hoistable platform movement is so that hoistable platform lower layer (224) is concordant with another channel, instead Leave hoistable platform to homing guidance waggon (225), into and stay within shelf vacancy.

Step 3: as shown in figure 34, hoistable platform it is mobile so that hoistable platform top layer (223) with reversely led automatically in shelf The channel for drawing waggon (225) is concordant, and commodity/food container (222) is placed in shelf passage in reversed homing guidance The front of waggon.

Step 4: as shown in figure 35, hoistable platform it is mobile so that hoistable platform lower layer (224) with reversely led automatically in shelf The channel for drawing waggon (225) is concordant, and at this moment homing guidance waggon picks up commodity/food container (222), and band is returned with commodity Pick-up and down platform lower layer (224).

Step 5: as shown in figure 36, hoistable platform rises, and commodity process equipment (220) opens door, and hoistable platform is moved to Suitable position, then commodity/food container (222) is put into the liftway left side by homing guidance waggon.

Reverse operating above step can then make commodity be moved to the right from the liftway left side.In short, being exactly positive automatic It guides waggon and accesses commodity from forward direction, reversed homing guidance waggon is among reversed access commodity, both of the aforesaid process: Wherein a homing guidance waggon is moved to shelf layer, and hoistable platform keeps two homing guidance waggons concordant, and at this moment, two is automatic Guide waggon trade goods.

Embodiment of the single layer hoistable platform homing guidance waggons double in opposite directions in the mobile commodity in liftway two sides:

In the embodiment, automatic vending system passes through the docking facilities of two reversed homing guidance waggons and single layer Hoistable platform and carry commodity, enable commodity to cross the liftway of docking facilities, at left and right sides of liftway Position, function is similar with the embodiment of double layer lifting platform above, and difference is using single layer hoistable platform.Such as positive side view Shown in schematic diagram one Figure 37, Figure 38, Figure 37 and Figure 38 show respectively this and move the method for commodity in liftway two sides:

Step 1: as shown in figure 37, homing guidance waggon B (234) avoids liftway and is hidden in shelf, automatically It guides waggon A (231) and obtains a commodity/lunch box (232) from shelf.

Step 2: the hoistable platform (233) of docking facilities adjusts position, so that homing guidance waggon B and homing guidance Waggon A is concordant.Homing guidance waggon A and homing guidance waggon B exchanges lunch box.

Step 3: as shown in figure 38, homing guidance waggon A (231) avoids liftway and is hidden in shelf, automatically Guiding waggon B (234) is put into commodity/lunch box (232) in commodity process equipment (230).

The embodiment of Mecanum wheel homing guidance waggon switching channel:

Transport trolley in the embodiment has translation and transfer, is able to achieve trolley and independently translates simultaneously switching channel, Shown in schematic side view Figure 39 as above, shelf single layer plane (255) can spatially accommodate the channel of two arrangements of goods, and energy Two column cargo and trolley placed side by side.Homing guidance conveying chassis (251) can install omni-directional wheel or Mecanum wheel (253), it is rotated by the independence of each wheel drive motor of micro computer control, so that homing guidance waggon advanced, retreated and translation, from And homing guidance waggon does not depend on external device (ED) and realizes the switching in channel.

There are two the optical signalling line (250) (254) in channel, optical signalling line can for shelf single layer plane (255) upper surface Much information is recorded by printed patterns or convex-concave pattern, such as distance, position coordinates, channel position etc., optics is arranged at trolley bottom The optical signalling line of the traceable identification aforementioned channels of sensor (252), is currently at that channel to know, locating is logical The position in road, the distance etc. walked, computer is according to these information setting corresponding actions.Optical signalling line is in addition to can be set In shelf single layer plane (255) upper surface, lower surface can also be set, while optical sensor setting is defeated in homing guidance Send vehicle top (upward).In addition to using optical signalling, track can be separately set on shelf, trolley separately sets locating wheel, so that homing guidance Waggon is advanced along track, to realize stable movement.

The mobile embodiment of the autonomous shelf interlayer of Mecanum wheel homing guidance waggon:

As shown in side elevation view Figure 40, which realizes the mobile function of homing guidance waggon shelf interlayer, can take It is another form of docking facilities for the mechanical lifting gear in the docking facilities in other embodiments.In the embodiment, automatically The structure for guiding waggon is similar with the Mecanum wheel homing guidance waggon in a upper embodiment.In the embodiment, with oblique Plate ladder (271) replaces the lifting device in docking facilities.Platform (270) between ladder, platform between ladder are provided between inclined plate ladder (271) With according to the settable various sensors of needs, communication device and charging unit on platform.Computer manipulates homing guidance waggon from list Layer shelf (273) successively by platform (270), another inclined plate ladder between inclined plate terraced (271), ladder, and eventually arrive at next layer of goods Frame.Repeat this process, homing guidance waggon reaches any one layer of shelf, thus realize commodity in the carrying of shelf interlayer and Conveying.

Homing guidance waggon utilizes the embodiment of cam set translation:

As shown in forward direction diagrammatic cross-section Figure 41, there is cam set in the translating device in the embodiment, utilizes cam set reality It now independently translates similar to the homing guidance waggon in preceding embodiment and the function of switching channel.In the embodiment, lead automatically Draw conveying chassis (263) below equipped with cam set (264).When lug boss (266) rotation to the position upward of cam set, from Dynamic guiding waggon wheel (265) is lower than cam, and homing guidance waggon is supported on wheel；It is convex when cam set (264) rotation When taking turns lug boss (266) downward, cam is lower than wheel, and homing guidance waggon is supported on cam, so ought at this moment cam revolve When turning, trolley translation.

Homing guidance waggon utilizes the embodiment of universal wheel translation:

Shown in schematic side view Figure 45 as above, homing guidance travelling bogie (104) has transfer, the foot beam of lower section two (102) two front-wheels (101) of end are universal wheels, when two powered rear wheels being connected with stepper motor of trolley are with phase negative side To (variable speed rotation) when rotation, trolley is integrally turned to.The embodiment is not necessarily to Mecanum wheel, and cost is relatively low, but can not put down It moves, turns to and displacement needs more space.

The embodiment of homing guidance waggon and docking facilities cooperation:

Shown in anterior view Figure 42 as above, in the embodiment:

Homing guidance waggon (296) travels on shelf plywood, will return in docking facilities, in order to protrude weight Component other than point, docking facilities and homing guidance waggon is hidden, and is not shown in figure.Lifting platform (289) and counterweight Plate (293) is moved up and down each along two optical axises, and is linked respectively with a chain, and hang over the two of sprocket wheel by chain Side, so that sprocket wheel both sides stress balance, so as to lifting platform high-speed mobile.Stepper motor (290) passes through gear drive sprocket, sprocket wheel It drives lifting platform (289) to go up and down, realizes numerical control campaign.

Homing guidance waggon platform (294) is located on lifting platform (289), is driven by screw motor (288) and does cross To movement, that is to say, that homing guidance waggon platform (294) can make upper and lower and transverse shifting, can dock up and down and transversely arranged Shelf passage.In some embodiments, which is also able to rotate, thus can dock the logical of lifting platform both sides Road.

In order to stablize the motion track of homing guidance waggon, there is guide rail on homing guidance waggon platform (294) (295), the motion range of homing guidance waggon is limited by guide rail.In order to further prevent homing guidance waggon arbitrarily to move There are locking device, including card hole (291) and card in position in homing guidance waggon platform (294) and homing guidance waggon (296) Column (299), card hole (291) are located above homing guidance waggon platform, and card column (299) is located at the promotion of homing guidance waggon In mechanism, card hole is taper hole, and card column end is also cone.When homing guidance waggon enters docking facilities, and card column face When card hole, hoisting mechanism rises to end, then card column will be inserted into card hole, such locking device locks trolley, so that Trolley can not be shifted arbitrarily.

Homing guidance waggon platform (294) end has charging electrode (292).When homing guidance waggon is back to automatically When guiding waggon platform end, the elastic slice of homing guidance waggon back electrode and filling for homing guidance waggon platform end Electrode (292) elastic slice contact, then homing guidance waggon is automatically into charged state.

When homing guidance waggon (296) enter docking facilities, judge that homing guidance is defeated by position sensor (297) Send vehicle whether completely into homing guidance waggon platform (294) in.Homing guidance waggon somewhere obtains food container (298), the switching in different channels is realized by docking facilities, then food container is transferred to the predetermined position of pre- routing.

Homing guidance waggon and channel-type food processing device

As shown in side elevation view Figure 43, there is channel-type food processing device in the embodiment, the channel-type in the embodiment Food processing device is a kind of heating device, there is lagging casing (280).Homing guidance waggon (286) is in food processing device It is moved on the channel (282) of lower section or lower part, there is the guide rail (285) of limit on channel, homing guidance waggon is removed along guide rail Transport the food commodity picked up from shelf, referred to herein as food container (284).Homing guidance waggon puts food container The lifting platform (283) for setting food processing device, then returns to docking facilities.Then, the screw rod in food processing device is promoted Machine (281) promotes lifting platform (283) together with food container.Lifting platform (283) and lagging casing (280) combine, so that Inside becomes enclosure space.Followed by starting to generate heat inside food processing device, add to food container and its interior food Work.

When needing to take out the food of completion of processing, lifting platform decline, homing guidance waggon is from docking facilities It sets out, is moved to lifting platform and fetches food container.Then, homing guidance waggon returns to docking facilities, food processing device Lifting platform is re-closing off and (rises and recombine with lagging casing).Air themperature in channel-type food processing device may be very It is high, it is possible to the running of homing guidance waggon is damaged or influenced, it at this moment can be by the way that hot-air be discharged, to guarantee to lead automatically Draw the normal working temperature of waggon.

Channel-type food processing device in the embodiment can be arranged side by side, root on it along channel (282) According to needing to select the lifting platform of one of food processing device to decline, food container is placed on lifting by homing guidance waggon On platform, then homing guidance waggon return, the food processing device in it food container and food process.

Channel-type two-layer compound food processing device embodiment

As shown in side elevation view Figure 44, channel-type composite food processing unit (plant) (71) inner space in the embodiment by every Laminate (77) is divided into upper layer and lower layer, and interlayer board (77) has down space in promotion channel (78) connection.Upper layer is high-temperature region, lower layer For room temperature area.Upper layer is high-temperature region, there is insulating layer, and having convection heating system includes electric hot plate (72) and convection fan (73), energy Enough whole heating upper spaces.Two lifting boards (79) are driven by stepper motor (75) and screw rod.Lifting board drops to bottom When portion, mechanical clamp one or more stack lunch boxes (76) be put on plate, then plate rise and with interlayer board (77) Overlapping, because plate is consistent with channel size, the hot-air convection of upper layer high-temperature region can be isolated in plate.Lunch box is right in this way Hot air is flowed, until hot-working is completed.

Thorn tubular circulation heating device (74) can also be set in the present embodiment, and plate is further up, and thorn pipe is inserted into meal Box is passed through recirculated hot air to heat internal food, inside and outside while heating (high-temperature region heating and thorn pipe circulating-heating), quickly cooks It adjusts.Lifting board needs to keep being aligned with interlayer board in order to which the hot-air of upper space is isolated, so lifting board should be done It obtains thicker.Lower layer is room temperature area, and temperature is not high will not to damage electronic component, is entered convenient for automatic guided vehicle, with automatic Door, convenient for completely cutting off the cold air of storage warehouse.Thorn tubular circulation heating device in the embodiment can be by modular mode It is arranged multiple.

In the embodiment, heat foods speed is fast, good heat insulation power saving, room temperature area, lower layer convenient for homing guidance waggon into Food is picked and placed out, and lower channel is convenient for modularized design convenient for multiple hoistable platforms of connecting.

Homing guidance based on server end conveys vehicle control embodiment:

As shown in schematic illustration Figure 46, in the embodiment, automatic vending system uses the Internet of Things Network Communication of low cost Module and single chip control module, customer (306) complete transaction in mobile phone terminal (307) or other network terminals, because related Data and artificial intelligence calculate control program and have been placed on server (300), and Vending Machine eliminates high performance computing chip With display, paper money device, coin device etc., thus cost is very low.

Order is sent to Internet of Things communication module by network (301) by server, and Internet of Things communication module turns order It is dealt into the data control bus of Vending Machine, at this moment (multiple) single chip control module in Vending Machine also receives It orders, the one-chip computer module selected in order executes Command Task and to data/address bus feedback result or state, eventually by object The data for representing aforementioned result and state are submitted server by connected network communication module.And then realize that server conveys homing guidance The relevant operation of vehicle (302) and docking facilities and food processing device (304) and customer's taking mouth (303).

In short, being exactly server in the form of ordering answer, the corresponding command is sent to Vending Machine, according to automatic vending The relevant feedback of machine, retransmits the order of next sequence, one-chip computer module according to command sequence operate related sensor, motor and Switch, and feedback is made to server by bus and Internet of Things communication module.

Channel-type storage bin embodiment (passes through) convenient for homing guidance waggon

It is settable in shelf quickly to supplement cargo convenient for automatic vending system in the embodiment as shown in side elevation view 47 Channel-type storage bin (362).The preferably disposable thermal insulation material manufacture of channel-type storage bin, price is low and is convenient for cold chain distribution. Channel-type storage bin is formed through channel to both ends open.There are multiple channels in the embodiment, there is stacking lunch box in channel (364)；Partition (366) are equipped between channel, can prevent the lunch box stacked from collapsing, can also play increase storage tank shell (363) The effect of intensity.Channel-type storage bin both ends have end cap (361) (365), and end cap closes when cold chain distribution.Work as automatic vending When machine needs to stock up, staff removes end cap, channel-type storage bin FCL is put into automatic vending system, and then realize quick Efficient manpower is stocked up.At this moment special mechanical clamp, which can enter, picks and places commodity in channel.

For another example shown in upper side view 48, the automatic vending system side of having, which leads in the shelf single layer (312) that (314) support to have, to be determined Position slot (311), shape is consistent with storage bin bottom, and can position is aligned storage bin.Staff is multiple cabinets toward channel End (i.e. right end) is close to.There is the lunch box (316) of stacking on channel partition (317) both sides, the mechanical folder on waggon or telescopic arm Pincers enter crawl lunch box in channel from section (315) direction.

The embodiment replenishes in handling process in vending machine, can prevent staff from surprisingly damaging in storage bin Portion's commodity are guaranteed the quality convenient for the heat preservation of frozen food, and channel-type storage bin is easy to multiple series connection, hence it is evident that are simplified and replenished Journey accelerates the efficiency that staff replenishes,.

The whole implementation example of channel-type storage bin and autonomous guiding waggon, docking facilities cooperation

For another example shown in upper side elevation exploded view 50, channel-type storage bin (322) (323), which is kept right, is arranged in shelf layer (321) On, waggon (325) are independently guided according to the feedback signal of infrared sensor (329), from the lunch box of storage bin channel interior (330) in take out a lunch box (324), and return docking facilities (328) the platform (326) to move up and down it On.For the movenent performance for improving docking facilities, there is balance chain (327) to be connected to the platform of docking facilities moveable part and match Weight plate.In the embodiment, it is autonomous guide waggon in channel without lunch box in the case where, can be worn from the channel interior of storage bin Multiple channel-type storage bins are crossed, still, the autonomous vehicle vehicle front that guides should set up downward sensor to detect storage bin Between gap, or detection end storage bin end, subside gap to prevent wheel.

The embodiment greatly simplifies the process that vending machine replenishes, while simplifying structure, improves function.

Drawer-type storage rack embodiment

For another example shown in upper side view 49, there are telescopic shelf drawer (393), work when stocking up in Vending Machine shelf Make personnel (397) to be put into the shelf drawer being drawn out channel-type storage bin (391) above one by one, and is close to the right (there are docking facilities on the right).Shelf drawer has access portal (398), such waggon or telescopic mechanical arm, can open across channel Mouthful (398), into the channel of storage bin (391) in pick-and-place commodity.The construction is particularly suitable for the lunch box class for needing to keep in cold storage food Object.

The embodiment (entirety) that unilateral channel-type storage bin and homing guidance waggon combine

As shown in positive direction view Figure 51, lunch box (342) is in channel-type storage bin (341), and channel-type storage bin (341) is simultaneously Row, which is close to, to be placed on shelf plate (343) and shelf supports (344), and the hoistable platform (350) of docking facilities is by chain (349) it draws high, so that homing guidance waggon (351) can be concordant with the top of lunch box (352) of stacking, and therefrom obtains one A lunch box.

In shelf, for one layer of bottom there are two modular customer's taking mouth (348), customer's taking mouth has door to open automatically It closes device (347).There are also the keels (346) current convenient for homing guidance transport trolley between two taking mouths.In addition, the layer There are also refrigeration system (345), various insulating layers, cold and hot isolating door etc. belong to common sense in figure, omit herein.

The embodiment (entirety) that dual sided channels formula storage bin and channel-type food processing device combine

As shown in positive direction view Figure 52, such embodiment utilizing channel-type storage bin, because can to probe into depth shallower for shelf, So homing guidance waggon is not used, but multi-stage expansion manipulator (372) can be turned to by having used, equally there is band in end There is the mechanical clamp (374) of sensor.Equally, which is driven by sprocket wheel (371) and chain (omitting in figure).

It is multiple channel-type storage bins (375) on the left of the system.Mechanical clamp will probe into crawl kinds of goods/meal in storage bin Box (376).

Top is refrigeration system (384) on the right side of the system；Customer taking mouth of the centre with electrically operated gate (123) fills Set (382).The system lower right-hand side is channel-type two-layer compound food processing device, wherein spinosity tubular circulation heating device (381) it is pierced into inside lunch box and directly heats food；Upper space is convective oven, has heat generating device (380) to heat air；It rises Platform (379) energy sensible sheaf space, mechanical clamp up and down is dropped to be placed on platform lunch box from lower layer space.Food processing device Left side is the passway (378) with convertible electrically operated gate.

Lunch box in the storage bin of left side is transferred to right side by the intermediate multi-stage expansion manipulator that turns to by whole system Processing unit (plant) heats food, customer's taking mouth is transferred to after being disposed, is obtained by customer.

The moveable ultra-large type automatic vending system embodiment of pedestal

If whole system is applied to large-scale automatic vending system, such as large-scale convenience store, pharmacy.It so can be right Connection device (construction on the right side of similar Figure 51) is placed on a moveable pedestal.For example, entire docking facilities be placed in one compared with Movement on big homing guidance waggon, for whole mechanical machine parts；In addition, there are also miniature inside docking facilities Homing guidance transport trolley picks and places commodity for entering shelf.(having trolley in cart).This kind of embodiment is used to be sold, Because transport trolley can go deep into cargo path, warehousing density and cost are also superior to prevailing system.

There are also many versions, many potential embodiments and combinations by the present invention, considerably beyond above-mentioned implementation Example, therefore be not limited to described in text.

Claims (10)

1. a kind of shipment device of automatic vending system, it is characterised in that:

There are homing guidance waggon and shelf；

The homing guidance waggon has load-engaging device, can move the cargo on the shelf；

There is shelf passage in the shelf；

The homing guidance waggon moves in the shelf passage.

2. the shipment device of automatic vending system according to claim 1, it is characterised in that:

The homing guidance waggon for having docking facilities transfer described, makes it be switched to the different shelf passages；

The homing guidance waggon is able to enter shelf and leaves docking facilities, or leaves shelf into docking facilities.

3. the shipment device of automatic vending system according to claim 2, it is characterised in that:

The docking facilities have rotating mechanism, and the homing guidance waggon can be made to turn to.

4. the shipment device of automatic vending system according to claim 2, it is characterised in that:

There is locking device on the homing guidance waggon；

There is the locking device of pairing in the docking facilities；

When the locking device enters lock state, homing guidance waggon can not be moved.

5. the shipment device of automatic vending system according to claim 1, it is characterised in that:

The homing guidance waggon has hoisting mechanism, can move up and down.

6. the shipment device of automatic vending system according to claim 5, it is characterised in that:

The homing guidance waggon has transfer or translating device.

7. the shipment device of automatic vending system according to claim 5, it is characterised in that:

Device is moved left and right, end structure is enable to move left and right.

8. the shipment device of automatic vending system according to claim 5, it is characterised in that:

There is forked construction, it can be from bottom supporting goods；

The forked construction is connect with the hoisting mechanism,

Cargo can be lifted, cargo is made to be detached from bottom supporting surface；

There are protrusion and groove in the shelf passage；

The hoisting mechanism is hidden in the forked construction in the groove；

The hoisting mechanism makes the forked construction be higher than the protrusion when increasing.

9. the shipment device of automatic vending system according to claim 2, it is characterised in that:

The homing guidance waggon has electrical storage device；

The docking facilities have charging unit；

The charging unit charges to the electrical storage device.

10. the shipment device of automatic vending system according to claim 1, it is characterised in that:

The shelf passage has upper and lower limit configuration, prevents the homing guidance waggon from shifting up and down.