CN111275888A

CN111275888A - Tray hooking mechanism, automatic tray taking and placing system and self-service equipment

Info

Publication number: CN111275888A
Application number: CN202010112444.XA
Authority: CN
Inventors: 李洪雷; 陈键; 徐春海; 石大为
Original assignee: Hunan Greatwall Information Financial Equipment Co Ltd
Current assignee: Hunan Greatwall Information Financial Equipment Co Ltd
Priority date: 2020-02-24
Filing date: 2020-02-24
Publication date: 2020-06-12

Abstract

The invention discloses a tray hooking mechanism, an automatic tray taking and placing system and self-service equipment, wherein the tray hooking mechanism adopts a first swing hook and a second swing hook which are driven by the same power source, the first swing hook and the second swing hook are respectively and fixedly arranged on a first shaft and a second shaft which are parallel to each other and swing along with the rotation of the respective shafts, the power source is in transmission connection with a motor shaft, the motor shaft is respectively in synchronous transmission connection with the first shaft and the second shaft, the first swing hook and the second swing hook synchronously and symmetrically swing, trays are hooked from two sides of two groups of tray empty slots arranged at the same end part of the tray, and the trays are hooked through the synchronous action of the two groups of swing hooks, so that the trays are more reliable when being moved. The tray automatic taking and placing system can reliably hook and take the tray, and the tray is taken, taken and placed and moved through the tray automatic taking and placing system, so that self-service equipment can sell objects in the tray.

Description

Tray hooking mechanism, automatic tray taking and placing system and self-service equipment

Technical Field

The invention belongs to equipment for self-service selling of articles through trays, and particularly relates to a tray hooking mechanism, an automatic tray taking and placing system and self-service equipment.

Background

When equipment such as machine is sold to current bank, sells machine by oneself automatically provides the article of strap bar code (two, three-dimensional sign indicating number), mostly will deposit the device of article and set the drawer into the grid formula, article are deposited on the tray in the drawer, get through the elevator dolly of depositing the cabinet front end and put the tray and pack and put, get the thing, carry out about centre gripping mode generally to the mode of dragging to the tray among the current equipment, the mode is got to the bottom hook, the friction pulley is rubbed with the hands and is moved the mode etc..

The customer needs to reduce the whole height of tray to the requirement of tray total volume quantity, to the tray after reducing the height, adopt the bottom hook to draw the mode because of the space is not enough, interfere with the transport mechanism of bottom easily, centre gripping mode about adopting, because of centre gripping structure moving part is more, the structure is complicated, or adopt bi-motor structure, synchronism and reliability are lower, the distance is got to the hook of pothook simultaneously less, and it is the same with the friction mode of rubbing with the hands to control the centre gripping and get the mode of putting the tray, when the inside article weight of tray is heavier, the inefficacy appears easily.

Chinese patent application No. 201910932698.3 discloses a scanning conveyer and self-service selling equipment who uses thereof, its hook that discloses gets module through the luffing motion pendulum hook from the hook groove hookup of following with placing box tip setting, in this structure, the swing range of pendulum hook surpasss the space of placing box clamping part, and after the height of placing the box is being reduced, the swing range of pendulum hook receives the restriction of bottom dolly transmission structure, consequently luffing motion pendulum hook structure can't be applicable to and reduce the occasion of placing the box height.

Disclosure of Invention

The technical problem solved by the invention is as follows: to current adoption tray self-service vending equipment when adopting highly less tray, have the tray and get the problem of losing efficacy easily, provide modified tray hook and get mechanism, tray and get system and self-service equipment of putting automatically.

The invention is realized by adopting the following technical scheme:

mechanism is got to tray hook, its characterized in that: the tray lifting mechanism comprises a first swing hook and a second swing hook which are driven by the same power source, wherein the first swing hook and the second swing hook are respectively and fixedly installed on a first shaft and a second shaft which are parallel to each other and swing along with the rotation of the respective shafts, a driving shaft of the power source is respectively connected with the first shaft and the second shaft in a synchronous transmission mode, the first swing hook and the second swing hook synchronously and symmetrically swing, and the tray is hooked from two groups of tray empty grooves which are formed in the same end portion of the tray.

In the mechanism is got to above-mentioned tray hook, the power supply is step motor, step motor's motor shaft is the drive shaft, is equipped with synchronous pulley and synchronizing gear on it simultaneously, step motor is connected with primary shaft and secondary shaft synchronous drive through synchronous belt drive mechanism and synchronizing gear drive mechanism respectively, antiport between primary shaft and the secondary shaft drives the synchronous symmetrical swing of first pendulum hook and second pendulum hook, and two sets of pendulum hooks are got the tray through the swing of relative tray left and right directions, need not move and occupy below transport mechanism space below the tray, and the lifting surface area who contacts with the tray dead slot is bigger, and the hook is difficult to become invalid when getting the removal tray.

In the tray hooking mechanism, planes are milled on the outer sides of the first shaft and the second shaft, the first swing hook and the second swing hook are fastened on the shaft planes of the first shaft and the second shaft through screws respectively, and are positioned through the boss on the shaft at the end part, so that the tray hooking mechanism is simple to assemble and high in connection strength.

In the tray hooking mechanism, the outer side of the tray empty groove and the top of the tray empty groove are opened, and the bottom of the tray empty groove is provided with a chamfer, so that the swinging hook is prevented from interfering and colliding with the tray empty groove above the hooking tray in the swinging process.

In the tray hooking mechanism, chamfers are arranged on two sides of the tops of the first swing hook and the second swing hook, so that the swing hooks are further prevented from touching a tray empty groove of a tray above the tray in the swinging process.

The tray hooking mechanism further comprises a swing sensor arranged on the first shaft or the second shaft, the swing sensor is fixed on the first shaft or the second shaft and swings together with the first swing hook or the second swing hook, a swing in-place detection element is arranged on a swing track of the swing sensor and is in feedback connection with a control module of a power source, the swing in-place detection element and the swing in-place detection element detect that the swing hook swings in place through the swing sensor and the swing in-place detection element and are in feedback control with the power source, and automatic hooking and releasing of the tray by the tray hooking mechanism are achieved.

The invention also discloses an automatic tray taking and placing system, which comprises a tray hooking mechanism, a dragging support and a taking and placing moving trolley; the tray hooking mechanism is fixedly arranged on a dragging support, the dragging support is arranged on the picking and placing moving trolley through a reciprocating dragging component, the axes of the first shaft and the second shaft are arranged along the dragging moving direction of the dragging support, and the first swing hook and the second swing hook are arranged in a manner of extending out relative to the end part of the dragging support; the tray picking and placing moving trolley is arranged on a picking and placing moving system which is movably butted to each tray position, the tray is hooked or loosened through the tray picking mechanism, the tray is pulled out or pushed back from the drawer through the dragging support, and the tray is moved between the drawer opening of each tray and the equipment picking opening inside the equipment through the picking and placing moving trolley.

In the automatic tray taking and placing system, the taking and placing moving trolley is used as a carrier for carrying and taking out trays, the side guide plates for limiting the two sides of the trays are arranged, a plurality of positioning protrusions protruding inwards are arranged on the inner sides of the side guide plates, after the trays are dragged out and moved to the taking and placing moving trolley through the dragging support and the tray hooking mechanism, the positioning protrusions are used for positioning the trays all the time at the central positions of the left side guide plate and the right side guide plate, and the left side guide plate and the right side guide plate cannot swing.

In the automatic system of getting of above-mentioned tray, the side guide top of getting putting the travelling car is equipped with the detection support that is used for detecting the inside object of tray, detect the setting of stretching out of support top to the side guide inboard, carry on spacingly to the tray top, tray hook gets the mechanism and prevents that the tray from getting to put the travelling car roll-off and drop, and the side guide prevents to remove about the tray, and the detection support prevents to get the tray of putting on the travelling car and to get the travelling car top unexpected drop, will move to get to put the tray on the travelling car and stabilize.

The invention further discloses self-service equipment comprising the automatic tray taking and placing system, a plurality of arranged trays are arranged in the equipment through a drawer structure, articles are sold by self-service through the trays, and the automatic tray taking and placing system is adopted to automatically take and place each tray.

The invention modifies the bottom hooking tray into a side swing hook dragging mode, optimizes the buckle structure on the tray, adopts two groups of swing hooks which synchronously and symmetrically swing, and the swing hooks on two sides are arranged on two sides of the empty groove structure at the same end part of the tray, so that the swing hooks all move in the height range of the tray, the height space at the end part of the trolley is favorably utilized, the problem of interference with a transmission belt when the bottom of the trolley is hooked and pulled is avoided, the swing hooks can swing to a larger stress to hook the tray in the swinging process, and simultaneously the tray is synchronously hooked and taken by the two groups of swing hooks, the action area of the swing hooks on the tray is further improved, the hooking reliability of the tray is improved, and the automatic hooking and releasing of the tray can be realized by the swing sensor.

In the automatic tray taking and placing system, the swinging plane of the swinging hook is perpendicular to the dragging moving direction of the tray, and the tray is not easy to lose efficacy in the process of hooking, taking and dragging the tray for placing heavy objects such as noble metals. The tray hooking mechanism hooks the tray relative to the bottom of the tray, and when the tray with a higher dragging height is dragged, the stress point is lower, and the dragging process is more stable. Get and put travelling car and get as the tray and put the carrier that removes the in-process, can carry out reliable and stable location to the tray, guarantee that object carries out the steady removal along with the tray in the tray, can not take place the accident and rock, can protect breakable object.

In summary, the tray hooking mechanism disclosed by the invention can reliably hook the tray, the tray is hooked by the automatic tray taking and placing system and then taken and placed to move, and the self-service device can automatically sell the objects in the tray.

The invention is further described with reference to the following figures and detailed description.

Drawings

Fig. 1 is a schematic structural view of a tray hooking mechanism in the first embodiment.

Fig. 2 is a schematic structural diagram of a corresponding tray according to an embodiment.

Fig. 3 is a partial schematic structural view of an automatic tray taking and placing system in the second embodiment.

Fig. 4 is a schematic view illustrating a state in which the automatic tray taking and placing system hooks a tray according to the second embodiment.

Fig. 5 is a schematic cross-sectional view illustrating the automatic tray taking and placing system according to the second embodiment when the tray is hooked.

Fig. 6 is a schematic view illustrating a state that the automatic tray taking and placing system of the second embodiment pulls the tray in place.

Reference numbers in the figures:

1-a tray hooking mechanism, 11-a stepping motor, 12-a motor shaft, 13-a first shaft, 14-a second shaft, 15-a synchronous belt, 16-a synchronous gear, 17-a first swing hook, 18-a second swing hook and 19-a swing sensor;

2-tray, 21-tray empty slot, 22-chamfer;

3-a dragging support, 31-a reciprocating dragging assembly;

4-taking and placing the moving trolley, 41-positioning bulges, 42-side guide plates and 43-detection supports.

Detailed Description

Example one

Referring to fig. 1, a tray hooking mechanism 1 shown in the figure is a specific embodiment of the present invention, and specifically includes a stepping motor 11, a motor shaft 12, a first shaft 13, a second shaft 14, a timing belt 15, a timing gear 16, a first swing hook 17, a second swing hook 18, and a swing sensor 19. The first swing hook 17 and the second swing hook 18 are connected to hook the tray, and the two sets of swing hooks are driven by the stepping motor 11 to swing symmetrically and synchronously to hook the tray in fig. 2.

Specifically, the stepping motor 11 is fixedly mounted on a mechanism bracket as a power source for driving a first swing hook 17 and a second swing hook 18, the motor shaft 12, the first shaft 13 and the second shaft 14 are rotatably mounted on the mechanism bracket through a support bearing, and the axes are arranged in parallel to each other, the first swing hook 17 and the second swing hook 18 are respectively fixedly mounted on the end portions of the first shaft 13 and the second shaft 14, the motor shaft 12 of the stepping motor 11 is used as a driving shaft of the power source, and the power is evenly distributed to the first shaft 13 and the second shaft 14. The motor shaft 12 and the first shaft 13, and the motor shaft 12 and the second shaft 14 are respectively connected in a synchronous transmission manner, the stepping motor 11 divides the rotating power into two transmission paths through the motor shaft 12 and respectively transmits the two transmission paths to the first shaft 13 and the second shaft 14, and the first swing hook 17 and the second swing hook 18 arranged on the stepping motor are driven to swing through the rotation of the first shaft 13 and the second shaft 14, so that the tray is hooked.

In the present embodiment, the first swing hook 17 and the second swing hook 18 perform synchronous symmetrical swinging, that is, the first swing hook 17 and the second swing hook 18 swing synchronously and in opposite directions, and the term "synchronous swinging" used herein means that the swinging speed and the swinging angle between the first swing hook 17 and the second swing hook 18 are the same. In order to realize synchronous symmetrical swinging between the first swing hook 17 and the second swing hook 18, in the embodiment, a synchronous pulley and a synchronous gear are assembled on the motor shaft 12, wherein the synchronous pulley is in belt transmission connection with the first shaft 13 through a synchronous belt 15, the synchronous gear is in meshing transmission connection with a synchronous gear 16 arranged on the second shaft 14, power transmission is realized between the motor shaft 12 and the first shaft 13 through the synchronous belt 15, the rotating motion transmitted between the motor shaft 12 and the first shaft 13 is in the same direction, the power transmission is realized between the motor shaft 12 and the second shaft 14 through gear meshing, and the rotating motion transmitted between the motor shaft 12 and the second shaft 14 is in reverse direction, so that the rotating directions between the first shaft 13 and the second shaft 14 are opposite, and the relative reverse swinging between the first swing hook 17 and the second swing hook 18 arranged on the shafts is realized. To achieve synchronization of the swing motion between the first swing hook 17 and the second swing hook 18, the synchronous pulley transmission ratio between the motor shaft 12 and the first shaft 13 and the synchronous gear transmission ratio between the motor shaft 12 and the second shaft 14 may be set to be the same, and the transmission ratio between the synchronous pulleys and the transmission ratio of the synchronous gears may be set to be 1: 1, adopting constant speed transmission.

Referring to fig. 2 in combination, the tray 2 suitable for the tray hooking mechanism in this embodiment is provided with a tray empty slot 21 at the same end of the tray for hooking the first swing hook 17 and the second swing hook 18, the tray empty slot 21 is provided at the end protruding portion of the tray 2, two symmetrical tray empty slots 21 are formed by hollowing out two sides of the protruding portion, the outer side and the top of the tray empty slot 21 are open, so that the first swing hook or the second swing hook can be embedded into the tray empty slot from the outer side of the tray empty slot from top to bottom, the initial positions of the first swing hook 17 and the second swing hook 18 are both in an upward vertical state, the tray is hooked from two sides of the two tray empty slots 21 provided at the same end of the tray 2, and the tray is hooked by the two sets of swing hooks in a synchronous motion, so that the tray is more reliable when moving.

In order to control the first swing hook 17 and the second swing hook 18 to be accurately hooked into the tray empty slot 21 of the tray 2 and accurately disengaged from the tray empty slot, the tray hooking mechanism 1 of the embodiment is further provided with a swing sensor 19 on the first shaft 13, the swing sensor 19 is arranged at one end, far away from the first swing hook, of the first shaft 13, the swing sensor 19 is arranged by adopting a swing structural member which swings along with the first swing hook 17 and protrudes out of the outer circumference of the first shaft, a swing in-place detection element is arranged on a swing track of the swing sensor, the swing in-place detection element is fixedly arranged on a mechanism bracket, a proximity switch or a U-shaped photoelectric switch can be adopted to detect the swing position of the swing sensor 19, and a detection bracket limit position is arranged. When the first swing hook 17 swings to the tray corresponding to the tray empty slot to take the tray in place, the swing sensor 19 just triggers the swing in-place detection element, the swing in-place detection element is in feedback communication connection with the control module of the stepping motor 11, the swing sensor 19 is in feedback control connection with the stepping motor 11, and after the swing sensor 19 detects that the first swing hook 17 hooks the tray in place, a detection signal is sent to the stepping motor 11 to stop rotating, the hooking state of the two groups of swing hooks to the tray is kept, and meanwhile, the detection signal can be used as a signal for triggering the tray to be dragged. Because the first swing hook 17 and the second swing hook 18 swing synchronously, only one swing hook needs to swing to detect and control from the viewpoint of cost and convenient control, and the second swing hook 18 can also be detected in practical application. The technology of controlling the motor to automatically start and stop by feedback control of the sensor belongs to the conventional automatic control technology, and the control method between the swing sensor 19 and the stepping motor is not described in detail herein in this embodiment.

Planes are milled on the outer circumferences of the first shaft and the second shaft, the first swing hook 17, the second swing hook 18 and the swing sensor 19 are fastened on the D-shaped plane of the first shaft 13 and the second shaft 14 through screws and are positioned through bosses on the shafts, and therefore the assembly is simple and the connection strength is high.

In practical application, in order to save space, the trays 2 are all placed in the drawer structure in a stacking mode, so that tray empty grooves 21 between the trays 2 stacked up and down are close to each other, in order to avoid interference between the first swing hook 17 and the second swing hook 18 and the bottom of the tray empty groove of the upper tray 2 when the swing hook takes off the lower tray, as shown in fig. 2, a chamfer 22 is machined at the bottom of a protruding structure at the end part of the tray where the tray empty groove 21 is located, and similarly, chamfer structures are machined on two sides of the top of the first swing hook 17 and the second swing hook 18, so that the swing hook can be prevented from interfering and colliding with the upper tray during the swinging process in the process of taking off the lower tray by the swing hook 17 and the second swing hook 18.

Example two

Referring to fig. 3, this embodiment is a specific embodiment of the automatic tray taking and placing system of the present invention, which specifically includes the tray hooking mechanism 1, the dragging support 3 and the taking and placing moving cart 4 in the first embodiment, the mechanism support of the tray hooking mechanism 1 is fixedly disposed on the dragging support 3, the dragging support 3 is mounted on the taking and placing moving cart 4 through the reciprocating dragging component 31, and the specific structure of the automatic tray hooking mechanism 1 is as in the first embodiment, wherein the axes of the first shaft 13 and the second shaft 14 on the tray hooking mechanism 1 are disposed along the dragging moving direction of the dragging support 3, and the first swing hook 17 and the second swing hook 18 are disposed to extend toward the end of the tray moving relative to the dragging support 3, so as to ensure that the first swing hook 17 and the second swing hook 18 can be accurately hooked to the tray.

The reciprocal dilatory subassembly 31 of dilatory support 3 includes the guide rail, hold-in range mechanism and driving motor, dilatory support 3 is getting through the guide rail sliding assembly who arranges according to dilatory direction and is getting on putting travelling car 4, be equipped with the hold-in range mechanism who is connected with the driving motor transmission on getting to put travelling car 4, hold-in range mechanism's hold-in range is on a parallel with the sliding guide of dilatory support 3, and with dilatory support 3 fixed connection, driving motor drives hold-in range mechanism's hold-in range and follows rectilinear propagation, it follows the reciprocal linear motion of guide to drive dilatory support 3. Get and put travelling car 4 and install on removing the mobile system of getting of butt joint to each tray position, relevant dilatory support 3 and get the specific structural style of getting of putting the mobile system of getting of travelling car 4 all can refer to the current tray of adopting and sell equipment by oneself, and this embodiment does not do here and describe repeatedly.

The automatic tray taking and placing system of this embodiment hooks or loosens the operation of tray 2 through tray hooking mechanism 1, hooks the tray after, drags out or pushes back tray 2 from the drawer through dragging support 3, gets to move between the drawer mouth of each tray and equipment fetching mouth through getting to put travelling car 4 with the tray inside the equipment. The specific action steps are shown in fig. 4, 5 and 6:

as shown in fig. 4 and fig. 5, when the tray 2 needs to be taken out, the picking and placing mobile cart 4 is moved to be aligned with the tray to be taken out by the mobile system, then the dragging support 3 is driven by the reciprocating dragging component 31 to be close to and aligned with the tray, the positioning control of the initial position is realized by the positioning sensor on the reciprocating dragging component 31, after the dragging support 3 and the tray hooking mechanism 1 thereon are close to the tray 2 in place, the stepping motor 11 of the tray hooking mechanism 1 drives the first swing hook 17 and the second swing hook 18 to synchronously and symmetrically swing oppositely, and simultaneously the hooks are embedded into two tray empty slots 21 at the end part of the tray 2, the swing sensor 19 sends a signal to stop the stepping motor after the dragging support 3 and the tray hooking mechanism 1 are in place, and simultaneously the system controls the dragging support 3 and the tray hooking mechanism 1 to retreat together, so as to pull the tray 2 out of the drawer to the picking and placing mobile cart 4, and the picking and placing mobile cart 4 is used as a, the tray is provided with side guide plates 42 for limiting the bottom and two sides of the tray, a plurality of positioning bulges 41 which protrude inwards are arranged on the inner sides of the side guide plates 42, the distance between the inner walls of the side guide plates 42 is larger than the width of the tray 2, the tray 2 can still correctly enter the picking and placing moving trolley 4 under the condition of certain offset error, the distance between the positioning bulges 41 between the side guide plates 42 on the two sides is narrower than the distance between the side guide plates on the two sides, but is still slightly larger than the width of the tray 2, the positioning projection 41 has an excessive curvature with the inner wall of the side guide 42, after the tray 2 is dragged out by the dragging bracket 3 and the tray hooking mechanism 1 and moves between the side guide plates 42 of the picking and placing moving trolley 4, the tray is stably positioned to the center position of the left and right side guides 42 by the positioning projections 41, and the tray 2 is not largely shaken between the side guides 42 under the limit of the positioning projections 41.

In addition, the top of the side guide plate 42 for taking and placing the moving trolley 4 is provided with a detection support 43 for detecting the objects in the tray, and the objects in the tray are detected by the detection support 43 through a sensor, the specific detection scheme is the prior art of the existing equipment, and the detailed description is omitted in this embodiment. The top of detecting support 43 stretches out the setting to the side guide inboard, it is spacing to enter into to get to put 2 side tops of tray on the travelling car 4 and carry out through detecting support 43, tray hook gets mechanism 1 and hooks tray 2 and can prevent that tray 2 from getting to put travelling car 4 on the roll-off and drop, the side guide 42 and the protruding 41 in location on it prevent to control about tray 2, detect support 43 prevents to get to put the accidental above the travelling car of putting of tray 2 on the travelling car 4 and drops, it stabilizes to move to get the tray of putting on the travelling car. The tray 2 dragged in place is separated from the drawer for placing the tray after completely entering the picking and placing movable trolley 4, as shown in fig. 6, and then the tray is moved to the position required by the upper computer program through the moving system of the picking and placing movable trolley 4.

The process of putting the tray back is just opposite to the process, the taking and placing moving trolley 4 moves to be aligned with the position of the drawer where the tray is located through the moving system, then the dragging support 3 pushes the tray 2 to enter the drawer under the driving of the reciprocating dragging component 31, after the tray is pushed back to the place, the stepping motor of the tray hooking mechanism 1 controls the first swing hook and the second swing hook to swing back and be separated from the tray empty groove 21 of the tray 2, and then the dragging support 3 drives the tray hooking mechanism 1 to return, namely the tray is put back.

The self-service equipment used for the automatic tray taking and placing system in the embodiment is a tray which is internally provided with a plurality of arrangements through a drawer structure, articles are sold by themselves through the tray, any tray can be taken and placed automatically by combining a moving system in the equipment, and then the articles are distributed or stored.

The foregoing embodiments illustrate the principles and features of the present invention and their advantages, and it will be understood by those skilled in the art that the present invention is not limited by the embodiments described above, which are merely illustrative of the specific principles of operation of the present invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.

Claims

1. Mechanism is got to tray hook, its characterized in that: the tray lifting mechanism comprises a first swing hook and a second swing hook which are driven by the same power source, wherein the first swing hook and the second swing hook are respectively and fixedly installed on a first shaft and a second shaft which are parallel to each other and swing along with the rotation of the respective shafts, a driving shaft of the power source is respectively connected with the first shaft and the second shaft in a synchronous transmission mode, the first swing hook and the second swing hook synchronously and symmetrically swing, and the tray is hooked from two groups of tray empty grooves which are formed in the same end portion of the tray.

2. The tray hooking mechanism according to claim 1, wherein the power source is a stepping motor, a motor shaft of the stepping motor is a driving shaft, a synchronous pulley and a synchronous gear are assembled on the driving shaft, the stepping motor is in synchronous transmission connection with the first shaft and the second shaft through a synchronous belt transmission mechanism and a synchronous gear transmission mechanism respectively, and the first shaft and the second shaft rotate in opposite directions to drive the first swing hook and the second swing hook to synchronously and symmetrically swing.

3. The tray hooking mechanism according to claim 1, wherein the outer circumferences of the first shaft and the second shaft are milled with planes, and the first swing hook and the second swing hook are fastened on the shaft planes of the first shaft and the second shaft through screws and are positioned through the boss on the shaft at the end part.

4. The tray hooking mechanism according to claim 1, wherein the tray is open at the outside and the top, and is chamfered at the bottom.

5. The tray hooking mechanism according to claim 4, wherein chamfers are arranged on two sides of the tops of the first swing hook and the second swing hook.

6. The tray hooking mechanism according to any one of claims 1 to 5, further comprising a swing sensor arranged on the first shaft or the second shaft, wherein the swing sensor is fixed on the first shaft or the second shaft and swings with the first swing hook or the second swing hook, a swing in-place detection element is arranged on a swing track of the swing sensor, and the in-place detection element is in feedback connection with a control module of the power source.

7. Automatic system of getting of tray, its characterized in that: comprises a tray hooking mechanism, a dragging bracket and a picking and placing moving trolley;

the tray hooking mechanism is the tray hooking mechanism according to any one of claims 1 to 6, the tray hooking mechanism is fixedly arranged on a dragging support, the dragging support is mounted on a picking and placing moving trolley through a reciprocating dragging component, the axes of the first shaft and the second shaft are arranged along the dragging moving direction of the dragging support, and the first swing hook and the second swing hook are arranged in a manner of extending relative to the end part of the dragging support; the picking and placing moving trolley is arranged on a picking and placing moving system which is movably butted to each tray position.

8. The automatic tray taking and placing system as claimed in claim 7, wherein the taking and placing moving cart is used as a carrier for carrying the taking-out tray, and has side guides for limiting the two sides of the tray, and a plurality of positioning protrusions protruding inwards are arranged on the inner sides of the side guides.

9. The automatic tray taking and placing system as claimed in claim 8, wherein the top of the side guides of the taking and placing moving cart is provided with a detecting bracket for detecting the objects inside the tray, and the top of the detecting bracket extends to the inner side of the side guides to limit the top of the tray.

10. Self-service equipment, inside tray that is equipped with a plurality of ranges through the drawer structure carries out article through the tray and sells its characterized in that by oneself: automatic handling of individual trays by the automatic handling system for trays according to claim 7, 8 or 9.