CN110751776A - Goods taking method of intelligent vending machine - Google Patents
Goods taking method of intelligent vending machine Download PDFInfo
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- CN110751776A CN110751776A CN201910941966.8A CN201910941966A CN110751776A CN 110751776 A CN110751776 A CN 110751776A CN 201910941966 A CN201910941966 A CN 201910941966A CN 110751776 A CN110751776 A CN 110751776A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
- G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
- G07F11/16—Delivery means
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Abstract
The invention discloses a goods taking method of an intelligent vending machine, which comprises a goods container and a goods taking vehicle capable of horizontally moving relative to the goods container, wherein a plurality of goods channels are arranged in the goods container, a goods taking port is arranged on the goods container, a goods basket capable of vertically moving relative to the goods container is arranged in the goods taking vehicle, a goods inlet and a goods outlet are arranged on the goods basket, a magnet is arranged on each goods channel, a Hall element and a goods inlet device used for driving the goods channels are arranged at the bottom of the goods basket, when the Hall element on the goods basket is aligned with the magnet, the Hall element obtains the maximum voltage and counts one unit, the goods basket is provided with an initial position and is positioned under the goods taking port, the Hall element is aligned with the magnet to obtain the maximum voltage and counts, and the number of the goods passing through the goods channels in the moving path of the goods basket and the goods taking vehicle is obtained, so that the position of.
Description
Technical Field
The invention relates to the technical field of vending machines, in particular to an intelligent vending machine and a goods taking method thereof.
Background
The vending machine is a brand-new commercial retail form, and is more and more widely applied because unmanned vending can be realized, manual field management is not needed, the vending machine is not limited by time and places, the vending cost is reduced, the efficiency is improved, and meanwhile, the vending machine is convenient to trade.
At present, general automatic vending machine adopts the slide to drop or drop to getting the goods mouth after carrying goods way edge through motor work most, the goods mode of getting of artifical pickup again, along with the expansion of automatic vending machine's range of application, the goods that are great to some weight are easy to be in the in-process that drops and collide the damage, and this kind of structure is heavier, occupation space is great, and all need set up the motor on every goods way, high in production cost, goods way makes complicated, the fault rate improves greatly.
Disclosure of Invention
To prior art's not enough and defect, provide an intelligence vending machine, get goods in intelligence vending machine through the goods basket, it is convenient to get goods, and the goods can directly not drop and need not to set up the motor at every kind of goods rear, saves the cost.
The technical purpose of the invention is realized by the following technical scheme: the goods taking method of the intelligent vending machine comprises a goods cabinet and a goods taking vehicle capable of moving horizontally relative to the goods cabinet, wherein a plurality of goods channels are arranged in the goods cabinet, a goods taking opening is formed in the goods cabinet, a goods basket capable of moving vertically relative to the goods cabinet is arranged in the goods taking vehicle, a goods inlet and a goods outlet are formed in the goods basket, a magnet is arranged on each goods channel, a Hall element and a goods inlet device used for driving the goods channels are arranged at the bottom of the goods basket, and the goods taking method comprises the following steps: when the Hall element on the goods basket is aligned with the magnet, the Hall element obtains the maximum voltage and counts one unit, and the goods basket is provided with an initial position which is positioned under the goods taking port;
A. calculating the horizontal unit difference and the vertical unit difference from the cargo basket to the target cargo channel;
B. moving the pickup truck to move the horizontal unit difference, driving the basket to move the vertical unit difference, and moving the basket to the target channel;
C. the goods feeding device is matched with the goods channel and drives goods to be transported into the goods basket, and the goods feeding device is disengaged from the goods channel;
D. if the goods are continuously fed, calculating the horizontal unit difference and the vertical unit difference between the current goods channel and the next goods channel, repeating the steps B, C and D until the last goods channel and entering the step E;
E. calculating the horizontal unit difference and the vertical unit difference from the current cargo channel to the initial position of the cargo basket;
F. moving the goods basket to move a vertical unit difference, driving the goods taking vehicle to move a horizontal unit difference, and returning the goods basket to the initial position;
g, lifting the goods basket to the position of the goods taking opening;
H. and opening the goods taking port to finish the goods taking.
The invention has the advantages that: the goods taking trolley moves horizontally in the automatic vending machine, the goods basket in the goods taking trolley moves vertically relative to the goods cabinet, the goods taking port is communicated with the goods outlet to take the goods, the goods cannot directly fall off from the goods cabinet, the stable and accurate taking of the goods is ensured, and the goods are limited in the goods basket and are convenient to take; the goods are transported into the goods basket by driving the goods channels through the goods taking device on the goods basket, a motor does not need to be installed on each goods channel, the cost is reduced, the failure rate is reduced, and the goods channels are flexibly and conveniently arranged to adjust positions; the Hall element obtains a voltage value when being close to the magnet, the Hall element aligns to the magnet to obtain the maximum voltage and counts, and the quantity of the goods passing through the goods channel in the moving path of the goods basket and the goods taking vehicle is obtained, so that the position of the target goods channel is determined, and the goods entering and exiting processes are more stable and reliable.
Further, the goods way includes conveyer belt and follower, get the goods device and include the drive piece and be used for driving the relative basket of drive piece and stretch out and pivoted drive assembly, the drive piece stretches out and cooperates and drive conveyer belt transportation goods with the follower, through above improvement, the drive piece stretches out drive conveyer belt transportation goods, and the goods way provides drive power by the basket, can not produce with the goods way and interfere in the basket motion process, and the transmission is stable and simple structure, and it is more convenient to assemble.
Further, be equipped with driven gate on the shipment mouth, be equipped with the initiative gate on getting the shipment mouth, be equipped with the layer board that offsets with driven gate's upper end on the initiative gate, layer board drive driven gate opens downwards so that get the shipment mouth and shipment mouth intercommunication, through above improvement, driven gate's setting for the goods can not fall out after getting into the basket, and the shipment is more stable, and the initiative gate plays the guard action to getting the shipment mouth, and driven gate is opened by the initiative gate drive, need not to increase the part, and simple structure is reliable.
Further, the basket rises the in-process, the initiative gate is opened downwards simultaneously so that get the goods mouth and go out the goods mouth intercommunication, through above improvement, opens downwards through layer board drive driven gate, and the basket rises in step for getting the opening action of goods mouth and going out the goods mouth and linking up more.
Further, step A is preceded by step X, whether the goods channel is positioned right above the goods taking opening is judged, if yes, the goods taking vehicle is driven to horizontally move for a plurality of units until the goods basket is moved away from the goods taking opening, step A is continued, and if not, step A is directly carried out; and step Y is further included before the step E, whether the last goods channel is located right above the goods taking opening is judged, if yes, the goods taking vehicle is driven to horizontally move a plurality of units until the goods basket is moved away from the goods taking opening, the step E is continued, if not, the step E is directly entered, through the improvement, before goods is fed again, the position of the goods channel is judged firstly, the situation that the goods basket and the goods taking opening cannot interfere in the goods feeding and discharging process is avoided, and the stability of the goods feeding and discharging is guaranteed.
Further, be equipped with the first sensor that is arranged in judging whether the goods gets into the goods basket completely on the mouth of stocking, through above improvement, the setting of first sensor for the shipment process of goods is more reliable and more stable, guarantees that the goods gets into in the goods basket completely after, gets the freight train and removes again.
Further, the both sides of shipment mouth and getting the goods mouth are equipped with the second sensor that is used for judging whether the goods takes out completely, and through above improvement, the setting of second sensor guarantees that the goods leaves the goods basket in completely, gets the goods mouth and recloses for get the goods process safe and reliable more.
Further, the initial position is got back to the basket after accomplishing to get goods, through above improvement, accomplishes to get goods action after, the initial position is got back to the basket and the freight car, makes things convenient for next time to get goods.
Through getting the relative packing cupboard vertical movement of basket in the freight train, through basket drive goods way with freight to the basket in, get the goods through getting the mouth in the basket, guarantee that the goods is steady and accurate taking out, can directly not directly drop from the packing cupboard, the goods is injectd in the basket, conveniently takes, need not to set up the motor behind every goods.
Drawings
FIG. 1 is a schematic view of a container structure according to the invention;
FIG. 2 is a schematic view of the door structure for the container of the present invention;
FIG. 3 is a schematic structural view of the pickup truck of the present invention;
FIG. 4 is a schematic structural view of the cargo way of the present invention;
FIG. 5 is a mechanical schematic of the basket of the present invention;
FIG. 6 is a schematic view of the open configuration of the basket of the present invention;
FIG. 7 is a schematic view of the structure of the driving gate and the driven gate of the present invention;
FIG. 8 is a schematic view of the structure of the cabinet door of the present invention;
FIG. 9 is a schematic structural diagram of a driving device of an active gate according to the present invention;
FIG. 10 is a schematic view of the engagement between the pickup device and the fixing base according to the present invention;
FIG. 11 is a schematic view of the pickup device according to the present invention;
FIG. 12 is a schematic view of the front and rear driving mechanism of the present invention;
FIG. 13 is a schematic view of the internal structure of the pickup truck of the present invention;
fig. 14 is a schematic view of another internal structure of the truck of the present invention.
Fig. 15 is a schematic view of the structure at a in fig. 14.
Fig. 16 is a schematic view of another angle structure of the truck of the present invention.
Fig. 17 is a schematic view of the structure at a in fig. 16.
In the figure: 1. a container; 11. a cabinet door; 111. a goods taking port; 112. an active gate; 113. a support plate; 2. a cargo way; 21. a magnet; 22. a driven member; 23. a roller; 24. a conveyor belt; 3. taking a truck; 31. a frame; 32. a basket; 321. a cargo inlet; 3211. a first sensor; 322. a goods outlet; 3221. a second sensor; 323. a Hall element; 324. a slave gate; 325. a fixed seat; 33. a goods taking device; 331. a driving member; 332. a goods taking driving motor; 333. a goods taking driving wheel; 334. a goods taking driven wheel; 335. a goods taking synchronous belt; 336. a goods taking transmission shaft; 337. a mounting seat; 338. a positioning column; 339. a transmission gear; 34. a reset assembly; 35. a front and rear drive mechanism; 351. a front and rear driving motor; 352. front and rear driving wheels; 353. front and rear driven wheels; 354. a front synchronous belt and a rear synchronous belt; 355. a horizontal pressing plate; 356. a horizontal transfer plate; 35. front and rear drive gears; 358. front and rear driven gears; 359. a front and rear drive shaft; 36. a vertical drive mechanism; 361. a vertical drive motor; 362. a vertical driving wheel; 363. a vertical driven wheel; 364. a vertical synchronous belt; 365. a vertical pressing plate; 366. a vertical transfer plate; 367. a worm gear reducer; 37. a horizontal driving mechanism; 371. a horizontal driving motor; 372. a first timing pulley; 373. a second timing pulley; 374. a third synchronous pulley; 375. a fourth timing pulley; 376. a fifth timing pulley; 377. a sixth timing pulley; 378. a first synchronization belt; 379. a second synchronous belt; 3710. a synchronous belt is driven; 3711. a planetary reducer; 3712. a front roller; 3713. a front drive shaft; 3714. a rear roller; 3715. a rear drive shaft; 4. a drive device; 41. a motor; 42. a motor drive assembly; 421. a first drive wheel; 422. a second drive wheel; 423. a first conveyor belt; 43. a conveyor belt assembly; 431. a first synchronizing wheel; 432. a second synchronizing wheel; 433. a second conveyor belt; 44. a connecting shaft;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that, although the terms upper, middle, lower, outer, inner, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another for ease of understanding, and are not used to define any direction or order of limitation.
As shown in fig. 1-9, a goods taking method of an intelligent vending machine includes a container 1 and a goods taking cart 3 capable of moving horizontally relative to the container 1, a plurality of goods channels 2 are provided in the container 1, a goods taking port 111 is provided on the container 1, a basket 32 capable of moving vertically relative to the container 1 is provided in the goods taking cart 3, a goods inlet 321 and a goods outlet 322 are provided on the basket 32, a magnet 21 is provided on each goods channel 2, a hall element 323 and a goods inlet device for driving the goods channels 2 are provided at the bottom of the basket 32, the method includes: when the hall element 323 on the basket 32 is aligned with the magnet 21, the hall element 323 obtains the maximum voltage and counts one unit, and the basket 32 is provided with an initial position which is positioned right below the goods taking port 111;
A. calculating the horizontal unit difference and the vertical unit difference from the basket 32 to the target cargo channel 2;
B. the front-driving goods taking vehicle 3 moves horizontally by a unit difference, then the goods basket 32 is driven to move vertically by a unit difference, and the goods basket 32 moves to the target goods passage 2;
C. the goods feeding device is matched with the goods channel 2 and drives goods to be transported into the goods basket 32, and the goods feeding device is disengaged from the goods channel 2;
D. if the goods are continuously fed, calculating the horizontal unit difference and the vertical unit difference between the current goods channel 2 and the next goods channel 2, repeating the steps B, C and D until the last goods channel 2 and entering the step E;
E. calculating the horizontal unit difference and the vertical unit difference from the current cargo channel 2 to the initial position of the cargo basket 32;
F. firstly, driving the cargo basket 32 to move by a vertical unit difference, then driving the truck 3 to move by a horizontal unit difference, and returning the cargo basket 32 to the initial position;
G. the basket 32 is lifted to the position of the goods taking opening 111;
H. the goods taking port 111 is opened to finish the goods taking.
The goods taking truck 3 moves horizontally in the vending machine, the goods basket 32 in the goods taking truck 3 moves vertically relative to the goods container 1, the goods taking port 111 is communicated with the goods outlet 322 for taking the goods, the goods cannot directly fall off from the goods container 1, the goods are stably and accurately taken out, and the goods are limited in the goods basket 32 and are convenient to take; the goods channels 2 are driven by the goods taking device 33 on the goods basket 32 to transport the goods into the goods basket 32, a motor does not need to be installed on each goods channel 2, the cost is reduced, the failure rate is reduced, and the goods channels 2 are flexibly and conveniently adjusted in position; the Hall element 323 obtains a voltage value when approaching the magnet 21, the Hall element 323 obtains the maximum voltage by aligning with the magnet 21 and counts, and obtains the number of the goods passing through the goods channel 2 in the moving path of the goods basket 32 and the goods taking vehicle 3, thereby determining the position of the target goods channel 2, and ensuring that the goods entering and exiting processes are more stable and reliable.
As shown in fig. 3-4, in particular, the cargo way 2 comprises a plurality of rollers 23 disposed at two ends thereof, a conveyor belt 24 disposed on the rollers 23, and a driven member 22, the number of the rollers 23 and the conveyor belt 24 is at least two, the driven member 22 is disposed between the two sets of rollers 23 at the end of the cargo way 22, the driven member 22 may be a driven gear,
as shown in fig. 5, the goods taking device 33 includes a driving member 331 and a driving component for driving the driving member 331 to extend and rotate relative to the goods basket 32, the driving member 331 extends to cooperate with the driven member 22 and drive the conveyer belt 24 to transport goods, the goods passage 2 is provided with driving force by the goods basket 31, a motor does not need to be installed on each goods passage 2, no interference is generated with the goods passage 2 in the moving process of the goods basket 32, the transmission is stable, the structure is simple, and the assembly is more convenient.
As shown in fig. 10 to 12, the driving assembly includes a goods-taking driving motor 332, the driving member 331 is engaged with the driven member 22, and the goods-taking driving motor 332 drives the conveying belt 24 to move through the engagement of the driving member 331 and the driven member 22, so that the goods on the conveying belt 24 are moved into the goods-taking vehicle 3 to achieve the goods-taking. When goods are taken, the goods taking driving motor 332 is started to drive the driving part 331 to rotate, the driving part 331 rotates to drive the driven part 22 meshed with the driving part 331 to rotate, the driven part 22 rotates to drive the roller 23 and the conveying belt 24 to rotate, and the conveying belt 24 drives the goods to move into the goods basket 32 in the rotating process, so that the goods taking is completed.
Movable mounting has fixing base 325 in the goods basket 32, it still includes mount pad 337 to get goods device 33, it all sets up on mount pad 337 to get goods driving motor 332 and drive piece 331, mount pad 337 is fixed to be set up on fixing base 325, it is connected with drive piece 331 through getting goods drive mechanism to get goods driving motor 332, drive assembly still includes getting goods action wheel 333, it follows driving wheel 334 and getting goods hold-in range 335 to get goods, it is connected with the output transmission of getting goods driving motor 332 with the output drive of getting goods action wheel 333 to get goods action wheel 335, it locates to get goods action wheel 333 and gets between the goods from driving wheel 334 to get goods hold-in range 335 cover, it is connected with the transmission shaft 336 of getting goods from driving wheel 334 to get goods, it installs the drive gear 339 with drive piece 331 engaged. The goods taking driving motor 332 is started to drive the goods taking driving wheel 333 to rotate, the goods taking driving wheel 333 drives the goods taking driven wheel 334 to rotate through the goods taking synchronous belt 335, the goods taking driven wheel 334 drives the transmission gear 339 to rotate through the goods taking transmission shaft 336, and the transmission gear 339 rotates to drive the driving piece 331 meshed with the transmission gear 339 to rotate so as to take goods.
The mounting seat 337 is provided with a positioning column 338, the cargo passage 2 is provided with a positioning hole 25 matched with the positioning column 338, and the positioning relation between the driving member 331 and the driven member 22 is determined by matching the positioning column 338 and the positioning hole 25, specifically, when the positioning column 338 extends into the positioning hole 25, the driving member 331 and the driven member 22 are in a meshing state, and when the positioning column 338 does not extend into the positioning hole 25, the driving member 331 and the driven member 22 are not in a meshing state.
As shown in fig. 12, a fixing seat 325 is movably installed in the basket 32, the goods taking device 33 is installed on the fixing seat 325, and the basket 32 is further provided with a front-rear driving mechanism 35 for driving the fixing seat 325 to move forward and backward relative to the basket 32. The front and rear driving mechanism 35 includes a front and rear driving motor 351 and a front and rear transmission mechanism, the front and rear driving motor 351 is fixedly installed in the basket 32 through a motor bracket, the front and rear transmission mechanism includes a front and rear driving wheel 352, a front and rear driven wheel 353 and a front and rear synchronous belt 354, the front and rear driving wheel 352, the front and rear driven wheel 353 are respectively rotatably installed in the basket 32, the front and rear driving wheel 352 is in transmission connection with an output end of the front and rear driving motor 351, the front and rear synchronous belt 354 is sleeved between the front and rear driving wheel 352 and the front and rear driven wheel 353, a horizontal pressing plate 355 is fixedly connected to the front and rear synchronous belt 354, the horizontal pressing plate 355 includes an upper pressing plate and a lower pressing plate, the upper pressing plate is located above the front and rear synchronous belt 354, the lower pressing plate is fixedly connected to compress the front and rear synchronous belt 354, a, the horizontal pressing plate 355 is connected with the fixing seat 325 through the horizontal transfer plate 356, the front and rear driving motors 351 are started to drive the front and rear driving wheels 352 to rotate, the front and rear driving wheels 352 rotate to drive the front and rear synchronous belts 354 to move and the front and rear driven wheels 353 to rotate, the front and rear synchronous belts 354 drive the horizontal pressing plate 355 to move when moving, and the horizontal pressing plate 355 drives the fixing seat 325 to move back and forth relative to the goods basket 32 through the horizontal transfer plate 356. The driving member 331 of the pickup device 33 is driven to engage or disengage with the driven member 22 by moving the fixing base 325. When the basket 32 moves relative to the cargo path 2, the driving member 331 is separated from the driven member 22 by the front and rear driving mechanism 35, so that the driving member 331 does not interfere with the driven member 22 when the basket 32 moves, and the basket 32 can move. When the driving part 331 is engaged with the driven part 22, the basket 32 is in butt joint with the goods passage 2 at the moment, goods on the goods passage 2 can be smoothly moved into the basket 32, so that goods taking is realized, when the driving part 331 is engaged and separated with the driven part 22, the basket 32 is separated from the goods passage 2 at the moment, the basket 32 cannot interfere with the goods passage 2 when moving, and the basket 32 can conveniently take the goods from different baskets 32.
In a preferred embodiment of the present invention, the number of the front and rear transmission mechanisms is two, the two sets of front and rear transmission mechanisms are respectively disposed on the cargo basket 32, the front and rear synchronous belts 354 of one set of front and rear transmission mechanisms are connected to one side of the bottom of the cargo basket 32 through a transmission plate, the front and rear synchronous belts 354 of the other set of front and rear transmission mechanisms are connected to the other side of the bottom of the cargo basket 32 through a transmission plate, the output end of the front and rear driving motor 351 is in transmission connection with front and rear driving gears 357, a front and rear transmission shaft 359 is rotatably mounted on the cargo basket 32, a front and rear driven gear 358 engaged with the front and rear driving gears 357 is disposed on the front and rear transmission shaft 359, one end of the front and rear transmission shaft 359 is in transmission connection with the front and rear driving wheels 352 of the other set of front and rear, the front and rear driving gears 357 rotate to drive the front and rear driven gears 358 engaged with the front and rear driving gears 359 to rotate, the front and rear driving gears 359 drive the front and rear driving wheels 352 of the two sets of front and rear driving mechanisms to rotate, and the two sets of front and rear driving mechanisms are arranged to drive the goods basket 32 to move more stably.
As shown in fig. 5-9, specifically, the slave gate 324 is arranged on the cargo outlet 322, so that the cargo cannot fall out after entering the cargo basket 32, the cargo is more stable to be discharged, the slave gate 324 is connected with a reset component, the cargo outlet 111 is provided with the driving gate 112 and the driving device 4 for driving the driving gate 112, the driving gate 112 is provided with the supporting plate 113 abutting against the upper end of the slave gate 324, the supporting plate 113 drives the slave gate 324 to be opened downwards so as to communicate the cargo outlet 111 with the cargo outlet 322, the driving gate 112 plays a role in protecting the cargo outlet 111, the slave gate 324 is driven by the driving gate 112 to be opened, no additional parts are needed, and the structure is simple and reliable.
Specifically, drive arrangement 4 includes motor 41, by motor drive assembly 42 and the conveyer belt subassembly 43 of motor 41 driven, and motor drive assembly 42 and conveyer belt subassembly 43 are through a connecting axle 44 synchronous transmission, and conveyer belt subassembly 43 locates the both sides of initiative gate 112, and the both sides of initiative gate 112 are equipped with the connecting plate, are equipped with the clamp plate on the conveyer belt, and the clamp plate cooperates in order to drive initiative gate 112 with the connecting plate and goes up and down.
Specifically, the motor transmission assembly 42 includes a first driving wheel 421 connected to the output end of the motor 41, a second driving wheel 422 and a first transmission belt 423 which are disposed above the first driving wheel 421, the connecting shaft 44 is disposed on the second driving wheel 422 in a penetrating manner, and the first transmission belt 423 is sleeved on the first driving wheel 421 and the second driving wheel 422; the conveyor belt assembly 43 comprises two first synchronizing wheels 431 arranged at two end portions of the connecting shaft 44, a second synchronizing wheel 432 arranged above each first synchronizing wheel 431, and a second conveyor belt 433, wherein the second conveyor belt 433 is sleeved on the first synchronizing wheels 431 and the second synchronizing wheels 432, and the second synchronizing wheels 432 are arranged above the goods taking port 111.
Specifically, during the ascending process of the basket 32, the driving gate 112 opens downwards at the same time, and the driven gate 324 is driven by the support plate 113 to open downwards, so that the opening actions of the goods taking port 111 and the goods outlet 322 are more consistent.
Specifically, the step a includes a step X of judging whether the cargo way 2 is located right above the cargo access 111, if so, driving the cargo pickup truck 3 to horizontally move by a plurality of units until the cargo basket 32 is removed from the cargo access 111, and continuing the step a, otherwise, directly entering the step a; step Y is further included before step E, whether the last goods channel 2 is located right above the goods taking port 111 or not is judged, if yes, the goods taking vehicle 3 is driven to horizontally move for a plurality of units until the goods basket 32 is moved away from the goods taking port 111, step E is continued, if not, the step E is directly entered, before goods are put in, the position of the goods channel 2 is judged firstly, interference between the goods basket 32 and the goods taking port 111 is avoided in the goods putting and discharging processes, and stability of goods putting and discharging is guaranteed.
Specifically, the goods inlet 321 is provided with a first sensor 3211 for determining whether goods completely enter the goods basket 32, and if so, the driving part 331 and the driven part 22 are disengaged; if not, the driving member 331 and the driven member 22 are kept in cooperation until the goods are completely taken out, so that the goods feeding process is more stable and reliable, and after the goods completely enter the goods basket 32, the goods vehicle 3 is taken out and moved, wherein the first sensors 3211 may be a grating generator and a grating receiver which are oppositely arranged on two sides of the goods feeding port 321.
Specifically, the two sides of the goods outlet 322 and the goods taking port 111 are provided with a second sensor 3221 for judging whether goods are taken out completely, if so, the active gate 112 rises, and the goods taking port 111 is closed; if not, the active gate 112 remains in the original position, the goods taking port 111 is opened until the goods are completely taken out, and after the goods are completely left from the goods basket 32, the goods taking port 111 is closed again, so that the goods taking process is safer and more reliable, wherein the second sensors 3221 may be photoelectric sensors disposed at two sides of the goods outlet 322 and the goods taking port 111.
Specifically, the initial position is got back to basket 32 after accomplishing the goods of getting, and the action is got after accomplishing, and basket 32 and the goods wagon 3 of getting back to initial position makes things convenient for next time to get goods.
Through getting 1 vertical removal of goods basket 32 relative packing cupboard in the freight train 3, through goods basket 32 drive goods way 2 with freight to goods basket 32 in, get goods through getting goods mouth 111 in goods basket 32, guarantee that the goods is steady and accurate takes out, can directly drop from packing cupboard 1, the goods is injectd in goods basket 32, conveniently takes, need not to set up motor 41 behind every goods.
Specifically, the pickup truck 3 is provided with a vertical driving mechanism 36 for driving the cargo basket 32 to move vertically, and the bottom of the pickup truck 3 is provided with a horizontal driving mechanism 37 for driving the pickup truck 3 to move horizontally.
As shown in fig. 13, the vertical driving mechanism 36 includes a vertical driving motor 361 and a vertical transmission mechanism, the vertical transmission mechanism is connected to the basket 32, and the vertical driving motor 361 drives the basket 32 to move vertically in the frame 31 through the vertical transmission mechanism. The vertical transmission mechanism comprises a vertical driving wheel 362, a vertical driven wheel 363 and a vertical synchronous belt 364, the vertical driven wheel 363 is rotatably mounted on the frame 31, the vertical driving motor 361 is in transmission connection with the vertical driving wheel 362, the vertical synchronous belt 364 is sleeved between the vertical driving wheel 362 and the vertical driven wheel 363, the goods basket 32 is positioned between the vertical driving wheel 362 and the vertical driven wheel 363, the vertical synchronous belt 364 is connected with the goods basket 32, a vertical pressing plate 365 is fixedly connected to the vertical synchronous belt 364, the vertical pressing plate 365 is connected with the goods basket 32 through a vertical transmission plate 366, the vertical driving wheel 362 is driven to rotate through the work of the vertical driving motor 361, the vertical driving wheel 362 drives the driven wheel to rotate through the vertical synchronous belt 364, meanwhile, the vertical synchronous belt 364 is vertically moved and connected with the goods basket 32 through the vertical synchronous belt 364, and when the vertical synchronous belt 364 vertically moves, so that the basket 32 can retrieve goods at different height positions from the smart vending machine.
The vertical driving motor 361 is in transmission connection with the vertical driving wheel 362 through a worm gear reducer 367. Make worm gear speed reducer 367, the output torque increase of vertical driving motor 361 through the setting for vertical driving motor 361 only needs less output just can drive the basket 32 and remove, and worm gear speed reducer 367 has self-locking function in addition, can make when vertical driving motor 361 stop work, vertical action wheel 362 can not take place the rotation, and the basket 32 can not move down because of self gravity.
As shown in fig. 14 to 16, the horizontal driving mechanism 37 includes a horizontal driving motor 371 and a horizontal transmission mechanism, a rail 14 and a horizontal space for the pickup truck 3 to move horizontally are horizontally disposed in the container 1, a traveling wheel matched with the rail 14 is disposed at the bottom of the frame 31, the traveling wheel includes a front roller set disposed at the front side of the bottom of the frame 31 and a rear roller set disposed at the rear side of the bottom of the frame 31, the front roller set includes two front rollers 371 and a front transmission shaft 3713 connected to the two front rollers 371, and the rear roller set includes two rear rollers 3714 and a rear transmission shaft 3715 connected to the two rear rollers 3714. Through setting up preceding roller train and back roller train for get freight train 3 and remove more steadily.
The horizontal transmission mechanism comprises a first synchronous pulley 372, a second synchronous pulley 373, a third synchronous pulley 374, a fourth synchronous pulley 375, a fifth synchronous pulley 376, a sixth synchronous pulley 377, a transition shaft, a first synchronous belt 378, a second synchronous belt 379 and a transmission synchronous belt 3710, the first synchronous belt pulley 372 is in transmission connection with a horizontal driving motor 371, the second synchronous belt pulley 373 is arranged at the bottom of the frame 31 through a transition shaft, the first timing belt 378 is sleeved between the first timing pulley 372 and the second timing pulley 373, the third synchronous pulley 374 is mounted on the transition shaft, the fourth synchronous pulley 375 and the fifth synchronous pulley 376 are mounted on the front transmission shaft 3713, the sixth synchronous pulley 377 is installed on the rear transmission shaft 3715, the second synchronous belt 379 is sleeved between the third synchronous pulley 374 and the fourth synchronous pulley 375, the transmission synchronous belt 3710 is sleeved between the fifth synchronous pulley 376 and the sixth synchronous pulley 377. The horizontal driving motor 371 is in transmission connection with the first synchronous pulley 372 through a planetary reducer 3711. The output torque of the horizontal driving motor 371 is increased through the planetary reducer 3711, so that the horizontal driving motor 371 only needs a small output power to push the goods taking vehicle 3 to move.
During operation, the horizontal driving motor 371 is started to drive the first synchronous pulley 372 to rotate, the first synchronous pulley 372 drives the second synchronous pulley 373 to rotate through the first synchronous belt 378, the second synchronous pulley 373 drives the transition shaft to drive the third synchronous pulley 374 to rotate, the third synchronous pulley 374 drives the fourth synchronous drive to rotate through the second synchronous belt 379, the fourth synchronous pulley 375 drives the front driving shaft 3713 and the fifth synchronous pulley 376 to rotate, the fifth synchronous pulley 376 drives the sixth synchronous pulley 377 to rotate through the driving synchronous belt 3710, the sixth synchronous pulley 377 drives the rear driving shaft 3715 to rotate, the front driving shaft 3713 drives the two front rollers 3712 to rotate, the rear driving shaft 3715 drives the two rear rollers 3714 to rotate, through the horizontal transmission mechanism, the two front rollers 3712 and the two rear rollers 3714 actively rotate, so that the pickup truck 3 can move more quickly and stably.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (8)
1. A goods taking method of an intelligent vending machine is characterized by comprising the following steps: including packing cupboard (1) and can be relative packing cupboard (1) horizontal motion get freight train (3), be equipped with a plurality of goods way (2) in packing cupboard (1), be equipped with on packing cupboard (1) and get cargo mouth (111), it can be relative packing cupboard (1) vertical motion's basket (32) to get be equipped with in freight train (3), be equipped with into cargo mouth (321) and shipment mouth (322) on basket (32), every be equipped with magnet (21) on goods way (2), basket (32) bottom is equipped with hall element (323) and is used for driving into cargo device (33) of goods way (2), the method includes: when the Hall element (323) on the basket (32) is aligned with the magnet (21), the Hall element (323) obtains the maximum voltage and counts one unit, and the basket (32) is provided with an initial position which is positioned right below the goods taking port (111);
A. calculating the horizontal unit difference and the vertical unit difference from the cargo basket (32) to the target cargo channel (2);
B. the forerunner moves the pickup truck (3) to move horizontally by a unit difference, then drives the basket (32) to move vertically by a unit difference, and the basket (32) moves to the target cargo channel (2);
C. the goods feeding device is matched with the goods channel (2) and drives goods to be transported into the goods basket (32), and the goods feeding device is disengaged from the goods channel (2);
D. if the goods are continuously fed, calculating the horizontal unit difference and the vertical unit difference between the current goods channel (2) and the next goods channel (2), repeating the steps B, C and D until the last goods channel (2) is reached, and entering the step E;
E. calculating the horizontal unit difference and the vertical unit difference from the current cargo channel (2) to the initial position of the cargo basket (32);
F. the forerunner moves the goods basket (32) to move vertically by a unit difference, then drives the goods taking vehicle (3) to move horizontally by a unit difference, and the goods basket (32) returns to the initial position;
G. the basket (32) is raised to the position of the article taking opening (111).
H. And opening the goods taking port (111) to finish the goods taking.
2. The method of claim 1, wherein: the goods channel (2) comprises a conveying belt (24) and a driven part (22), the goods feeding device (33) comprises a driving part (331) and a driving component for driving the driving part (331) to extend out and rotate relative to the goods basket (32), and the driving part (331) extends out to be matched with the driven part (22) and drives the conveying belt (24) to convey goods.
3. The method of claim 1, wherein: be equipped with driven gate (324) on shipment mouth (322), be equipped with initiative gate (112) on get goods mouth (111), be equipped with on initiative gate (112) layer board (325) that offsets with the upper end of driven gate (324), layer board (325) drive driven gate (324) are opened downwards so that get goods mouth (111) and shipment mouth (322) intercommunication.
4. The method of claim 3, wherein: step X is further included before the step A, whether the goods channel (2) is located right above the goods taking opening (111) or not is judged, if yes, the goods taking vehicle (3) is driven to horizontally move for a plurality of units until the goods basket (32) is moved away from the goods taking opening (111), the step A is continued, and if not, the step A is directly carried out;
and step Y is also included before the step E, whether the last goods channel (2) is positioned right above the goods taking opening (111) is judged, if yes, the goods taking vehicle (3) is driven to horizontally move for a plurality of units until the goods basket (32) is moved away from the goods taking opening (111), the step E is continued, and if not, the step E is directly carried out.
5. The method of claim 3, wherein: during the lifting process of the cargo basket (32), the active gate (112) simultaneously opens downwards to communicate the cargo taking port (111) with the cargo outlet (322).
6. The method of claim 1, wherein: the goods inlet (321) is provided with a first sensor (3211) for judging whether goods completely enter the goods basket (32).
7. The method of claim 1, wherein: and second sensors (3221) for judging whether the goods are completely taken out are arranged on two sides of the goods outlet (322) and the goods taking port (111).
8. The method of claim 1, wherein: the basket (32) returns to the initial position after completion of the retrieval.
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