CN112216023A - Goods access mechanism and vending equipment suitable for vending equipment - Google Patents
Goods access mechanism and vending equipment suitable for vending equipment Download PDFInfo
- Publication number
- CN112216023A CN112216023A CN201910619985.9A CN201910619985A CN112216023A CN 112216023 A CN112216023 A CN 112216023A CN 201910619985 A CN201910619985 A CN 201910619985A CN 112216023 A CN112216023 A CN 112216023A
- Authority
- CN
- China
- Prior art keywords
- commodity
- clamping
- clamping piece
- goods
- vending apparatus
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 34
- 230000003993 interaction Effects 0.000 claims description 22
- 230000004044 response Effects 0.000 claims description 6
- 239000000463 material Substances 0.000 description 10
- 238000000034 method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000008267 milk Substances 0.000 description 1
- 210000004080 milk Anatomy 0.000 description 1
- 235000013336 milk Nutrition 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Classifications
-
- 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
- G07F11/38—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which the magazines are horizontal
-
- 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
- G07F11/165—Delivery means using xyz-picker or multi-dimensional article picking arrangements
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Vending Machines For Individual Products (AREA)
- Control Of Vending Devices And Auxiliary Devices For Vending Devices (AREA)
Abstract
The invention provides a commodity storing and taking mechanism suitable for vending equipment and the vending equipment. The lifting device is connected with the transverse guide rail in a sliding way and can move transversely along the transverse guide rail. The access device is connected with the lifting device in a sliding way and can vertically move relative to the lifting device; a clamping part is also arranged. The clamping part can stretch out and draw back towards a goods channel on the goods shelf and comprises a first clamping piece and a second clamping piece which are arranged in parallel; the control device controls the first clamping piece and/or the second clamping piece to move so as to adjust the distance between the first clamping piece and the second clamping piece. The commodity storing and taking mechanism suitable for the vending equipment and the vending equipment can automatically store and take commodities with different widths, can automatically adjust the clamping force according to parameters such as the width, the weight and the like of the commodity, can ensure firm clamping of the commodity, and cannot damage the surface of the commodity due to overlarge clamping force.
Description
Technical Field
The invention relates to the technical field of vending equipment, in particular to a commodity storing and taking mechanism suitable for the vending equipment and the vending equipment.
Background
With the acceleration of the pace of life of people, unmanned vending machines and unmanned access devices are favored by consumers.
In the field of vending equipment, there are three main ways to store and retrieve goods. The first method comprises the following steps: the most common commodity storing and taking mode of the automatic vending machine on the market is that the vending machine is provided with spring commodity channels, and the spring commodity channels are stored into commodity grids of each spring commodity channel mainly by manpower during storage; when the goods are taken out, the goods are pushed down from the goods grid to the access opening below by external force (a spring and a small-sized conveyer belt) from the goods channel, and the goods are taken by a goods taker from the access opening; and the second method comprises the following steps: the first equipment is additionally provided with a lifting platform so as to take out easily damaged commodities, when the commodities need to be taken out, the lifting platform can be lifted to the same plane of the commodity channel to receive the pushed commodities and then is lowered back to the commodity taking port, and then customers can take the commodities from the access port. Both of the first and second methods can only take goods automatically, and the stock still needs to be stored (put) by human. And the third is that: the purpose of commodity access is reached through the mode of access holding commodity container, generally is the mode of placing the tray of commodity through the access on the market, and this kind of mode can reach the purpose of automatic access commodity, but because no matter the size of commodity all need occupy a whole tray, when commodity is less, will have serious space extravagant, can only access a tray at every turn in addition, and efficiency is lower.
More advanced automatic vending equipment appears in the market, for example, chinese patent with patent application number CN201410498699.9 discloses an irregular article automatic vending device and a vending system, which comprises a container, an extracting platform, an extracting trolley and a lifting horizontal moving mechanism, wherein a clamping mechanism is arranged at the front end of the extracting trolley, the clamping mechanism replaces the tray in the third mode, and the access efficiency is improved; however, the clamping force of the clamping mechanism is the same no matter the weight and the material of the articles are the same or different, so when the goods with larger weight and smooth surface are stored and taken, the accident that the goods fall and are damaged due to insufficient clamping force can occur; when a fragile product (such as glass bottled milk) with a small weight is stored and taken, an accident that the surface of the product is damaged due to too much clamping force may occur.
Disclosure of Invention
The present invention is directed to solve the above problems, and provides a goods storage and retrieval mechanism and a vending apparatus suitable for a vending apparatus, which can automatically store and retrieve goods with different widths; one or more commodities can be accessed simultaneously, so that the access efficiency is improved; in addition, the clamping force can be automatically adjusted according to parameters such as width, weight and material of the article, so that the firm clamping of the commodity can be ensured, and meanwhile, the damage to the surface of the commodity due to the overlarge clamping force can be avoided.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a merchandise access mechanism suitable for use with vending apparatus, the vending apparatus comprising a shelf having a plurality of lanes, including a transverse guide, lifting means, access means and control means, wherein:
the lifting device is connected with the transverse guide rail in a sliding way and can move transversely along the transverse guide rail;
the access device is connected with the lifting device in a sliding way and can vertically move relative to the lifting device;
it is also provided with a clamping part;
the clamping part can extend and retract towards a goods channel on the goods shelf and is used for clamping goods and comprises a first clamping piece and a second clamping piece which are arranged in parallel, and the distance between the first clamping piece and the second clamping piece is adjustable;
and the control device is electrically connected with the lifting device, the access device and the clamping part and is used for controlling the first clamping piece and/or the second clamping piece to move to adjust the distance between the first clamping piece and the second clamping piece in response to the width of the commodity.
In a further embodiment, a micro force transducer electrically connected with the control device is arranged on the second clamping piece of the clamping part, and the micro force transducer is used for detecting the clamping force in real time and feeding the clamping force back to the control device;
the control device is further configured to calculate an optimal clamping force in response to the weight of the commodity, and control the first clamping piece and/or the second clamping piece to move according to the clamping force fed back by the micro load cell in real time so as to achieve the optimal clamping force.
In a further embodiment, the friction coefficient of the inner surface of the first clamping piece is the same as the friction coefficient of the inner surface of the second clamping piece, and the optimal clamping force is calculated by the following formula:
Fh=m*g*pμ*(1+k)/hμ；
in the formula, Fh represents the optimum clamping force; m represents the weight of the commodity; g represents a weight coefficient; p mu represents a friction factor between the commodity and the surface of the goods channel on which the commodity is placed; h mu represents a friction factor between the inner surfaces of the first clamping sheet and the second clamping sheet and the surface of the commodity; k represents a first safety factor; k is a positive number.
In a further embodiment, the friction coefficient of the inner surface of the first clamping piece is the same as the friction coefficient of the inner surface of the second clamping piece, and the optimal clamping force is calculated by the following formula:
Fh=m*g*Gp*(1+i)；
Gp=pμ/hμ；
in the formula, Fh represents the optimum clamping force; m represents the weight of the commodity; g represents a weight coefficient; p mu represents a friction factor between the commodity and the surface of the goods channel on which the commodity is placed; h mu represents a friction factor between the inner surfaces of the first clamping sheet and the second clamping sheet and the surface of the commodity; gp represents the universal friction factor ratio; i represents a second safety factor; i is a positive number.
In a further embodiment, the inner surfaces of the first clamping piece and the second clamping piece are provided with anti-slip inner liners.
In a further embodiment, the anti-slip inner liner is a soft rubber inner liner.
In a further embodiment, the cross-rails comprise an upper rail and a lower rail,
the upper guide rail and the lower guide rail are both horizontally arranged,
the lifting device is vertically arranged, the upper end of the lifting device is in sliding connection with the upper guide rail, and the lower end of the lifting device is in sliding connection with the lower guide rail, so that the lifting device can move transversely along the guide rail direction of the transverse guide rail.
According to the improvement of the invention, the invention also provides vending equipment, which comprises the commodity access mechanism suitable for the vending equipment, a goods shelf with a plurality of goods channels, an access port and an information interaction device for realizing information interaction with a user;
the information interaction device is electrically connected with the control device;
the control device is also arranged to respond to the information input of the information interaction device to control the commodity access mechanism to store the commodity to be stored in the access port into the commodity channel and/or take the commodity to be taken out from the commodity channel to the access port.
In a further embodiment, the vending apparatus further comprises a cargo carrying device positionable within the lane;
the loading device can be used for placing one or more goods, and the goods can be stored in the goods channel and/or taken out of the goods channel together with the one or more goods placed on the loading device.
In a further embodiment, the information interaction device comprises an input module and an output module, wherein the input module and the output module are both electrically connected with the control device, and the input module is used for inputting commodity storage and information acquisition by a user; the output module is used for outputting the commodity storing and fetching information to the user.
Compared with the prior art, the commodity storing and taking mechanism suitable for the vending equipment and the vending equipment have the remarkable beneficial effects that commodities with different widths can be automatically stored and taken; one or more commodities can be accessed simultaneously, so that the access efficiency is improved; in addition, the clamping force can be automatically adjusted according to parameters such as width, weight and material of the article, so that the firm clamping of the commodity can be ensured, and meanwhile, the damage to the surface of the commodity due to the overlarge clamping force can be avoided.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention and are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a merchandise access mechanism and a vending apparatus according to a preferred embodiment of the present invention.
FIG. 2 is a diagram illustrating the result of the clamping portion of the merchandise storing and taking mechanism of the vending apparatus according to the preferred embodiment of the present invention.
Fig. 3 is a schematic view of an electric control part of the vending apparatus according to the preferred embodiment of the present invention.
FIG. 4 is a schematic view of a loading unit and a cargo way of a vending apparatus according to a preferred embodiment of the present invention.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
According to a preferred embodiment of the present invention, a merchandise storage mechanism for a vending apparatus is provided, and the vending apparatus will be briefly described. As shown in fig. 1 and 3, the vending apparatus includes a shelf 1 having a plurality of lanes 1-1, an access opening (not shown in the drawings), an information interaction device 6 for enabling information interaction with a user, and an access mechanism. The access mechanism provided by the invention is suitable for storing the commodities to be stored in the access opening into the commodity channel 1-1 of the goods shelf 1 and/or taking the commodities to be taken out from the commodity channel 1-1 to the access opening. Of course, the storage device is also suitable for storing and taking articles for other storage devices, such as storage devices like three-dimensional containers.
As shown in fig. 1 to 4, the access mechanism includes a cross rail 2, a lifting device 3, an access device 4, and a control device 5.
The lifting device 3 is connected with the transverse guide rail 2 in a sliding way and can move transversely along the guide rail direction of the transverse guide rail 2. The cross rail 2 includes an upper rail 2-1 and a lower rail 2-2. The upper guide rail 2-1 and the lower guide rail 2-2 are both arranged horizontally. The lifting device 3 is vertically arranged. The upper end of the lifting device 3 is connected with the upper guide rail 2-1 in a sliding way, and the lower end of the lifting device 3 is connected with the lower guide rail 2-2 in a sliding way, so that the lifting device 3 can move transversely along the guide rail direction of the transverse guide rail 2.
The access device 4 is slidably connected to the lifting device 3 and can vertically move up and down relative to the lifting device 3.
The end part of the access device 4 close to the goods shelf 1 is also provided with a clamping part 4-1. The clamping part 4-1 can extend back and forth towards the goods channel 1-1 on the goods shelf 1 and is used for clamping goods. The clamping part 4-1 comprises a first clamping piece 4-1b and a second clamping piece 4-1a which are arranged in parallel, and the distance between the first clamping piece 4-1b and the second clamping piece 4-1a is adjustable. In this embodiment, in order to improve the rigidity of the clamping pieces, the first clamping piece 4-1b and the second clamping piece 4-1a are made of steel plates, so that the first clamping piece 4-1b and the second clamping piece 4-1a are not easy to deform when clamping commodities.
And a control device 5 electrically connected to the lifting device 3, the access device 4 and the clamping part 4-1 for controlling the actions of the lifting device 3, the access device 4 and the clamping part 4-1. The control device 5 controls the first clamping piece 4-1b and/or the second clamping piece 4-1a to move in response to the width of the article 8 to adjust the distance between the first clamping piece 4-1b and the second clamping piece 4-1 a.
In some preferred embodiments, as shown in fig. 2, the second clamping piece 4-1a of the clamping part 4-1 comprises a first layer of clamping piece 4-11a and a second layer of clamping piece 4-12a which are arranged in parallel with each other, and the first layer of clamping piece 4-11a and the second layer of clamping piece 4-12a are hinged by a hinge 4-1 e. And a micro load cell 4-1c electrically connected with the control device 5 is arranged between the first layer of clamping sheets 4-11a and the second layer of clamping sheets 4-12 a. The micro load cell 4-1c is used to detect the clamping force and feed it back to the control device 5. The control device 5 is further configured to calculate an optimal clamping force in response to the weight of the merchandise item 8, and to control the movement of the first clamping piece 4-1b and/or the second clamping piece 4-1a to achieve the optimal clamping force according to the clamping force fed back by the micro load cell 4-1 c. In this embodiment, the model number of the micro load cell 4-1c is GR 704.
It should be understood that the aforementioned control device 5 and micro load cells 4-1c are well known to those skilled in the art, and any suitable structure, either now known or later developed, may be used in accordance with the present disclosure.
The commodity storing and taking mechanism suitable for the vending equipment provided by the invention has the following storing and taking working procedures:
when a user needs to store commodities 8, the user inputs information (such as names, widths, weights, materials, quantities and the like of the commodities 8) of the commodities 8 to be stored through the information interaction device 6 of the vending equipment, and also can input the numbers of the commodities 8 through the information interaction device 6 of the vending equipment, the control device 5 automatically calls the names, the widths, the weights, the materials, the quantities and the like corresponding to the commodities 8 stored in the equipment database in advance, and the commodities 8 to be stored are placed at an access port of the vending equipment by the user. The control device 5 retrieves the friction factors (the friction factors between the commodity 8 and the surface of the goods channel 1-1 for placing the commodity 8) of the commodity stored in advance and the clamping friction factors (the friction factors between the inner surfaces of the second clamping sheet 4-1a and the first clamping sheet 4-1b and the surface of the commodity 8) to calculate the optimal clamping force, the clamping part 4-1 of the access device 4 reaches the access opening and clamps the commodity 8 to be stored (the specific steps for clamping the commodity 8 to be stored are that a, the second clamping sheet 4-1a and the first clamping sheet 4-1b are positioned at two sides of the commodity 8 to be stored, the control device 5 controls the first clamping sheet 4-1b and/or the second clamping sheet 4-1a to move according to the width of the commodity 8 until the two contact the outer surface of the commodity 8, namely, the first clamping sheet 4-1b and the second clamping sheet 4-1a can be controlled to move towards each other simultaneously, one of the first clamping piece 4-1b and the second clamping piece 4-1a can also be controlled to move towards the other; b. the control device 5 continues to control the first clamping piece 4-1b and/or the second clamping piece 4-1a to move so as to achieve the optimal clamping force between the first clamping piece 4-1b and the second clamping piece 4-1a, and the commodity 8 is firmly clamped without excessive clamping force). The control device 5 controls the lifting device 3 to move transversely and controls the access device 4 to move vertically relative to the lifting device 3 so as to move the access device 4 to the goods channel opening of the goods shelf 1, the clamping part extends forwards into the goods channel 1-1, and then the first clamping piece 4-1b and/or the second clamping piece 4-1a move towards the direction far away from each other so as to release the goods 8 to be stored into the goods channel 1-1, and the storage action is completed.
When the user needs to take out the commodity 8, the user inputs the information (such as the name, width, weight, material, quantity, etc. of the commodity 8) of the commodity 8 to be taken out through the information interaction device 6 of the vending equipment, or the number of the commodity 8 through the information interaction device 6 of the vending equipment, and the control device 5 automatically calls the name, width, weight, material, quantity, etc. corresponding to the commodity 8 number stored in the equipment database in advance. The control device 5 retrieves the friction factors (the friction factors between the commodity 8 and the surface of the goods channel 1-1 on which the commodity 8 is placed) of the commodity stored in advance and the clamping friction factors (the friction factors between the inner surfaces of the second clamping sheet 4-1a and the first clamping sheet 4-1b and the surface of the commodity 8) to calculate the optimal clamping force, the clamping part 4-1 of the access device 4 reaches the goods channel corresponding to the commodity 8 and clamps the commodity 8 to be taken (the specific steps for clamping the commodity 8 to be taken are that a, the second clamping sheet 4-1a and the first clamping sheet 4-1b are positioned at two sides of the commodity 8 to be taken, the control device 5 controls the first clamping sheet 4-1b and/or the second clamping sheet 4-1a to move until the first clamping sheet 4-1b and the second clamping sheet 4-1a touch the outer surface of the commodity 8 according to the width of the commodity 8, namely, the first clamping sheet 4-1b and the second clamping sheet 4-1a can be controlled, one of the first clamping piece 4-1b and the second clamping piece 4-1a can also be controlled to move towards the other; b. the control device 5 continues to control the first clamping piece 4-1b and/or the second clamping piece 4-1a to move so as to achieve the optimal clamping force between the first clamping piece 4-1b and the second clamping piece 4-1a, and the commodity 8 is firmly clamped without excessive clamping force). The control device 5 controls the clamping part to retract backwards to the outside of the goods channel 1-1, then the control device 5 controls the lifting device 3 to move transversely and controls the access device 4 to move vertically relative to the lifting device 3 so as to move the access device 4 to the access opening, and then the first clamping piece 4-1b and/or the second clamping piece 4-1a move in the direction away from each other so as to release the goods 8 to the access opening, so that the taking-out action is completed.
In some preferred embodiments, the friction coefficient of the inner surface of the first clamping piece 4-1b is the same as the friction coefficient of the inner surface of the second clamping piece 4-1a, and the optimal clamping force is calculated by the formula:
Fh=m*g*pμ*(1+k)/hμ。
in the formula, Fh represents the optimum clamping force; m represents the weight of the commodity; g represents a weight coefficient; p mu represents a friction factor between the commodity and the surface of the goods channel 1-1 on which the commodity is placed; h mu represents the friction factor between the inner surfaces of the first clamping sheet 4-1b and the second clamping sheet 4-1a and the surface of the commodity; k represents a first safety factor; k is a positive number. In this example, K is 0.1.
In some preferred embodiments, the friction coefficient of the inner surface of the first clamping piece 4-1b is the same as the friction coefficient of the inner surface of the second clamping piece 4-1a, and the optimal clamping force is calculated by the formula:
Fh=m*g*Gp*(1+i)；
Gp=pμ/hμ。
in the formula, Fh represents the optimum clamping force; m represents the weight of the commodity; g represents a weight coefficient; p mu represents a friction factor between the commodity and the surface of the goods channel 1-1 on which the commodity is placed; h mu represents the friction factor between the inner surfaces of the first clamping sheet 4-1b and the second clamping sheet 4-1a and the surface of the commodity; gp represents the universal friction factor ratio; i represents a second safety factor; i is a positive number. In this example, i is 0.08.
In some embodiments, in order to increase the friction factor between the inner surfaces of the first and second clamping pieces 4-1b and 4-1a and the surface of the commodity, as shown in fig. 3, the inner surfaces of the first and second clamping pieces 4-1b and 4-1a are provided with anti-slip inner pads 4-1 d. In this embodiment, the anti-slip inner liner 4-1d is a soft rubber inner liner.
According to a modification of the present invention, as shown in fig. 1 to 4, a vending apparatus is also provided. The vending equipment comprises the commodity access mechanism suitable for the vending equipment, a goods shelf 1 with a plurality of goods channels 1-1, an access opening and an information interaction device 6 for realizing information interaction with a user. The aforementioned shelf 1 and access port are well known to those skilled in the art and will not be described in detail herein.
The information interaction device 6 is electrically connected with the control device 5. The information interaction device 6 comprises an input module and an output module, the input module and the output module are both electrically connected with the control device 5, and the input module is used for inputting commodity storage and information (such as commodity numbers, names, widths, weights, materials, quantities and the like) by a user or a consumer; the output module is used for outputting the commodity storing and fetching information (such as the number, name, width, weight, material, quantity and the like of the commodity, and the storing and fetching result, state and the like) to the user. In this embodiment, the input module includes at least one of a voice input device, a keyboard, and a touch input screen; the output module comprises at least one of a display screen, a voice broadcaster and an electronic information label. It should be understood that the aforementioned information interaction device 6 is well known to those skilled in the art, and any suitable structure, existing or developed in the future, may be used in accordance with the present disclosure.
The control device 5 responds to the information input of the information interaction device 6 and controls the commodity access mechanism to store the commodities to be stored in the access port into the commodity channel 1-1 and/or take the commodities to be taken out from the commodity channel 1-1 to the access port. The specific storing and fetching work flow is the same as that of the storing and fetching mechanism, and is not described herein again.
In certain preferred embodiments, as shown in FIG. 4, the vending apparatus further includes a cargo carrying device 7 positionable within the lane 1-1. The loading device 7 can be used for placing one or more goods 8 on the loading device, and the goods 8 can be stored in the goods passage 1-1 and/or taken out of the goods passage 1-1 together with the one or more goods 8 placed on the loading device and clamped by the clamping part 4-1. In this way, the equipment can access one or more commodities simultaneously through the loading device 7, and the access efficiency is improved.
In conclusion, the vending equipment can automatically store and take commodities with different widths; one or more commodities can be accessed simultaneously, so that the access efficiency is improved; in addition, the access mechanism can automatically adjust the clamping force according to the parameters of the width, the weight, the material and the like of the article, can ensure firm clamping of the commodity and simultaneously can not damage the surface of the commodity due to overlarge clamping force.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. A merchandise access mechanism suitable for use with vending apparatus, the vending apparatus comprising a shelf having a plurality of lanes, comprising a transverse guide, a lifting device, an access device and a control device, wherein:
the lifting device is connected with the transverse guide rail in a sliding way and can move transversely along the guide rail direction of the transverse guide rail;
the access device is connected with the lifting device in a sliding way and can vertically move relative to the lifting device; it is also provided with a clamping part;
the clamping part can extend and retract towards a goods channel on the goods shelf and is used for clamping goods and comprises a first clamping piece and a second clamping piece which are arranged in parallel, and the distance between the first clamping piece and the second clamping piece is adjustable;
and the control device is electrically connected with the lifting device, the access device and the clamping part and is used for controlling the first clamping piece and/or the second clamping piece to move to adjust the distance between the first clamping piece and the second clamping piece in response to the width of the commodity.
2. The merchandise access mechanism for a vending apparatus of claim 1,
a second clamping piece of the clamping part is provided with a miniature force transducer which is electrically connected with the control device, and the miniature force transducer is used for detecting the clamping force in real time and feeding the clamping force back to the control device;
the control device is further configured to calculate an optimal clamping force in response to the weight of the commodity, and control the first clamping piece and/or the second clamping piece to move according to the clamping force fed back by the micro load cell in real time so as to achieve the optimal clamping force.
3. The merchandise access mechanism for a vending apparatus according to claim 2, wherein the friction coefficient of the inner surface of the first holding piece is the same as the friction coefficient of the inner surface of the second holding piece, and the optimal holding force is calculated by the following formula:
Fh=m*g*pμ*(1+k)/hμ；
in the formula, Fh represents the optimum clamping force; m represents the weight of the commodity; g represents a weight coefficient; p mu represents a friction factor between the commodity and the surface of the goods channel on which the commodity is placed; h mu represents a friction factor between the inner surfaces of the first clamping sheet and the second clamping sheet and the surface of the commodity; k represents a first safety factor; k is a positive number.
4. The merchandise access mechanism for a vending apparatus according to claim 2, wherein the friction coefficient of the inner surface of the first holding piece is the same as the friction coefficient of the inner surface of the second holding piece, and the optimal holding force is calculated by the following formula:
Fh=m*g*Gp*(1+i)；
Gp=pμ/hμ；
in the formula, Fh represents the optimum clamping force; m represents the weight of the commodity; g represents a weight coefficient; p mu represents a friction factor between the commodity and the surface of the goods channel on which the commodity is placed; h mu represents a friction factor between the inner surfaces of the first clamping sheet and the second clamping sheet and the surface of the commodity; gp represents the universal friction factor ratio; i represents a second safety factor; i is a positive number.
5. The merchandise access mechanism for a vending apparatus according to any one of claims 1-4,
the inner surfaces of the first clamping piece and the second clamping piece are both provided with anti-skidding inner liners.
6. The merchandise access mechanism for a vending apparatus of claim 5,
the anti-skid inner liner is a soft rubber inner liner.
7. The merchandise access mechanism for a vending apparatus according to any one of claims 1-4, wherein the cross-rail comprises an upper rail and a lower rail,
the upper guide rail and the lower guide rail are both horizontally arranged,
and the lifting device is vertically arranged, the upper end of the lifting device is in sliding connection with the upper guide rail, and the lower end of the lifting device is in sliding connection with the lower guide rail, so that the lifting device can transversely move along the guide rail direction of the transverse guide rail.
8. A vending apparatus, comprising a goods access mechanism suitable for the vending apparatus of any one of claims 1-7, a shelf having a plurality of lanes, an access port, and an information interaction device for enabling information interaction with a user;
the information interaction device is electrically connected with the control device;
the control device is also arranged to respond to the information input of the information interaction device to control the commodity access mechanism to store the commodity to be stored in the access port into the commodity channel and/or take the commodity to be taken out from the commodity channel to the access port.
9. The vending apparatus of claim 8,
the vending apparatus further comprises a cargo carrying device positionable within the lane;
the loading device can be used for placing one or more goods on the loading device, and the goods can be stored in the goods channel and/or taken out of the goods channel together with the one or more goods placed on the loading device.
10. The vending apparatus according to claim 8 or 9, wherein the information interaction device comprises an input module and an output module, the input module and the output module are both electrically connected with the control device, and the input module is used for inputting commodity storage and information access by a user; the output module is used for outputting the commodity storing and fetching information to the user.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910619985.9A CN112216023A (en) | 2019-07-10 | 2019-07-10 | Goods access mechanism and vending equipment suitable for vending equipment |
| PCT/CN2020/075796 WO2020169044A1 (en) | 2019-02-21 | 2020-02-19 | Storage and retrieval mechanism, device, apparatus, system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910619985.9A CN112216023A (en) | 2019-07-10 | 2019-07-10 | Goods access mechanism and vending equipment suitable for vending equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112216023A true CN112216023A (en) | 2021-01-12 |
Family
ID=74048163
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910619985.9A Pending CN112216023A (en) | 2019-02-21 | 2019-07-10 | Goods access mechanism and vending equipment suitable for vending equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112216023A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112773138A (en) * | 2021-02-04 | 2021-05-11 | 深圳市一方盒商业管理有限责任公司 | Commodity propulsion device and commodity management method |
| WO2023185708A1 (en) * | 2022-03-27 | 2023-10-05 | 柯干兴 | Vending machine |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109272653A (en) * | 2018-10-25 | 2019-01-25 | 山东便利客智能科技有限公司 | Puma manipulator and its bidirectional walking mechanism, fully-automatic intelligent goods selling equipment |
| CN208880714U (en) * | 2018-07-23 | 2019-05-21 | 辰耀智能装备(厦门)有限公司 | A kind of automatic numerical control manipulator |
| CN208992280U (en) * | 2018-09-18 | 2019-06-18 | 南京途酷信息科技有限公司 | A kind of numerically controlled lathe with can clamping workpiece manipulator |
| CN210348646U (en) * | 2019-07-10 | 2020-04-17 | 江苏华章物流科技股份有限公司 | Goods access mechanism and vending equipment suitable for vending equipment |
-
2019
- 2019-07-10 CN CN201910619985.9A patent/CN112216023A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208880714U (en) * | 2018-07-23 | 2019-05-21 | 辰耀智能装备(厦门)有限公司 | A kind of automatic numerical control manipulator |
| CN208992280U (en) * | 2018-09-18 | 2019-06-18 | 南京途酷信息科技有限公司 | A kind of numerically controlled lathe with can clamping workpiece manipulator |
| CN109272653A (en) * | 2018-10-25 | 2019-01-25 | 山东便利客智能科技有限公司 | Puma manipulator and its bidirectional walking mechanism, fully-automatic intelligent goods selling equipment |
| CN210348646U (en) * | 2019-07-10 | 2020-04-17 | 江苏华章物流科技股份有限公司 | Goods access mechanism and vending equipment suitable for vending equipment |
Non-Patent Citations (1)
| Title |
|---|
| 汪友光: "基于机器视觉和运动控制的传感器实时目标在线检测系统开发", 中国学术期刊电子杂志社, 30 June 2014 (2014-06-30), pages 45 - 46 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112773138A (en) * | 2021-02-04 | 2021-05-11 | 深圳市一方盒商业管理有限责任公司 | Commodity propulsion device and commodity management method |
| WO2023185708A1 (en) * | 2022-03-27 | 2023-10-05 | 柯干兴 | Vending machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210348646U (en) | Goods access mechanism and vending equipment suitable for vending equipment | |
| CN106887088B (en) | Can splice express delivery cabinet of packing access of being convenient for | |
| CN109622421B (en) | Automatic detect equipment and production line that have this equipment of branch material | |
| CN203132658U (en) | Automatic weighing equipment | |
| CN107922115A (en) | Target storage, processing and extraction system and method | |
| CN112216023A (en) | Goods access mechanism and vending equipment suitable for vending equipment | |
| CN211637369U (en) | Industrial internet teaching training platform | |
| CN107730715A (en) | A kind of intelligent carton retracting device and its method of work | |
| CN111301922A (en) | Clamping type intelligent stereoscopic warehouse for storing and taking PCB finished products and storing method | |
| CN104794826A (en) | Automatic invoice vending machine | |
| CN107226312A (en) | The stereo garage actual training device and its control method of beer automatic production line | |
| CN110758964A (en) | Automatic furniture finished product logistics stereoscopic warehouse and operation method thereof | |
| FI127160B (en) | Method and equipment for handling books and other library material in a library | |
| CN208407747U (en) | A kind of food weight classification and quantitative storage device | |
| CN211365837U (en) | Automatic change furniture finished product commodity circulation stereoscopic warehouse | |
| CN108946183B (en) | High-efficient box body hacking machine | |
| CN207361118U (en) | Automatic stored structure | |
| CN209427164U (en) | Intelligence back seals is also known as | |
| CN211810499U (en) | Automatic boxing device for hollow coils | |
| CN207226360U (en) | A kind of pallet feed mechanism | |
| AU2009212907B2 (en) | Combined storage system | |
| CN210709685U (en) | Material lifting device for stacking machine | |
| CN110980194A (en) | Article conveyer for commodity circulation | |
| CN218270941U (en) | Liquid level detection device for green plum beverage | |
| CN215844260U (en) | Logistics piece sorting equipment for logistics |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |