CN112927430A

CN112927430A - Prevent storage device and intelligent robot of selling goods of stifled goods

Info

Publication number: CN112927430A
Application number: CN202110115743.3A
Authority: CN
Inventors: 龙枝兵; 蔡荔星; 刘伟; 黄宇云; 蔡黎宗; 蔡建辉
Original assignee: Hunan Qingpu Digital Technology Co ltd
Current assignee: Hunan Qingpu Digital Technology Co ltd
Priority date: 2021-01-28
Filing date: 2021-01-28
Publication date: 2021-06-08

Abstract

The invention provides an anti-blocking goods storage device, which comprises a plurality of layers of rotary goods ways arranged up and down, wherein each rotary goods way comprises an inner ring goods way base body, an outer ring goods way base body, inner ring goods way blades, outer ring goods way blades and an inner meshing large gear, and further comprises an inner ring goods way falling port and an outer ring goods way falling port, so that goods can freely fall from the falling port to a goods outlet of a robot positioned below the rotary goods way after being pushed by the blades in a rotating way, and further comprises an inner ring goods supplementing channel and an outer ring goods supplementing channel which are used for supplementing goods to the rotary goods ways; the goods storage device also comprises a goods blocking and dredging mechanism with a dredging claw. The delivery mode of the invention saves space and cost, and is more convenient to use in the mobile vending robot. It is not only suitable for hard-packed goods, but also suitable for soft-packed goods. And the shipment and replenishment are very convenient.

Description

Prevent storage device and intelligent robot of selling goods of stifled goods

Technical Field

The invention relates to the technical field of self-service vending machines, in particular to a goods storage device capable of preventing goods from being blocked and an intelligent vending robot.

Background

The vending machine is widely applied because of the advantages of no limitation of time and place, labor saving, convenient transaction and the like. The existing vending machine is provided with a plurality of commodity storage mechanisms, and can be generally divided into a spiral spring type commodity channel, a crawler type commodity channel, a snake-shaped commodity channel, a vertical commodity channel and the like. The coil spring type cargo channel and the crawler type cargo channel are cargo storage mechanisms which linearly arrange the commodities in the horizontal direction, and the commodities are sent to the cargo outlet one by one through the coil springs or the crawler belts driven by the motor. The snakelike goods passage and the vertical goods passage are goods storage mechanisms which arrange goods in a snakelike or linear manner in the vertical direction, and the goods fall to the goods outlet one by means of gravity. Above-mentioned commodity storage mechanism's characteristics are arranged commodity along the single direction, or horizontal direction linear arrangement, or vertical direction is arranged, but this kind of arrangement's space utilization is lower, leads to storing up the mechanism oversize in level or vertical direction, all is unfavorable for using on the autonomous mobile formula robot of selling goods.

Nevertheless, current removal robot of selling goods also adopts the spring goods way for the majority, and portable vending machine mainly is applied to places such as market that the stream of people is intensive, can let portable vending machine meet the people in the logic setting and just in time stop the removal to remove the robot of selling goods and have frequent opening and stop the action, the action of opening and stop of robot can bring the vibration, and the spring that current spring goods was said is great with the goods way clearance, and the goods is gone into to lead to out the goods failure easily.

Therefore, there are also known in the art new storage mechanisms in vending machines, such as robots with flat-bed rotary channels. For example, patent CN201822109197 discloses a rotary vending machine, which comprises a mechanical part and an electronic control part, wherein the mechanical part is provided with a box body, the box body is internally provided with a plurality of layers of hollow support layers which are fixedly arranged at intervals, each layer of support layer is provided with a solar emission-shaped goods pushing part, each goods pushing part comprises a hollow circular part and a plurality of fixed baffle plates which are arranged at intervals in the circumferential direction of the hollow circular part, a space for loading goods is arranged between every two baffle plates, the hollow circular part is driven by a first motor to rotate, and one side of each support layer is provided with a notch for dropping goods; the notches of all the support layers are communicated to form a vertical space, a tray and a vertical guide rail are arranged in the vertical space, and the tray can move up and down in the vertical guide rail under the drive of a second motor; the goods outlet is arranged above the vertical space. The utility model discloses a need not to turn over the board and can directly get the thing from the shipment mouth, it is more convenient. However, this method has obvious disadvantages when being used for a mobile vending robot, one is that the goods storage space of the vending machine is not large enough, the radial space is not sufficiently utilized, the second point is that the mode of taking goods from the top of the vending machine obviously limits the height size of the mobile vending robot, the third point is that the too high delivery position of the method affects the layout of the screen and the layout of the head of the robot, and the fourth point is that the lifting delivery mode requires that goods have a flat lifting contact surface, so that the goods can only be mainly hard-packed products such as bottled products, and the method cannot be adapted to soft-packed goods.

Patents CN108205842A, CN108205843A, CN108205847A, CN207704540U, CN207704544U and CN209248649U are all related patents to vending machines applied by innovative technologies ltd. The CN108205847A discloses a goods storage mechanism and a vending machine provided with the same, the goods storage mechanism includes a storage tray and a first driving assembly, the storage tray includes at least one ring of storage ring, the storage ring includes a plurality of independent storage cells, each storage cell can be used for storing goods to be sold, and the storage cells are arranged in a ring shape on the same horizontal plane; the first driving assembly is used for driving the storage coil to rotate around a shaft; wherein, the first opening that supplies the hoist mechanism of vending machine from bottom to top to pass is seted up to the bottom of matter storage lattice. Compared with the existing goods storage mechanism, the goods storage mechanism provided by the invention greatly improves the space utilization rate, and can be matched with a lifting mechanism of an automatic vending machine when goods are delivered, so that the goods pass through the goods storage mechanism from bottom to top and are lifted to a goods outlet at the top of the machine. Still disclose a vending machine shipment mouth structure and vending machine that possesses function is judged to goods as CN209248649U, shipment mouth be located vending machine hoist mechanism's shipment passageway's end, shipment mouth dispose and be used for detecting whether the terminal sensor module who has the goods of shipment passageway, vending machine be provided with shipment mouth structure. The utility model discloses an in, owing to set up sensor assembly in shipment mouth department, through sensor assembly's real-time supervision, whether can the goods after the perception shipment be taken away by client, if the goods is taken away, the vending machine alright move on next step, if not taken away, can remind client to take away the goods through certain mode to the vending machine can move on next step. As can be seen from the drawings and claim 4 of the patent, the delivery channels are divided into two groups for respectively leading out the goods in the inner layer and the outer layer of the storage mechanism. This series of patents effectively uses the radial space of the vending machine, but the machine is still delivered from the top of the machine in a way that greatly limits the height of the vending robot and is therefore not adapted to the human-shaped mobile vending robot, in particular to the layout of its screen and head. In addition, the shipment hoisting device in this series of patents is the mechanism of chain form, and this mechanism can only adapt to cylinder type size goods, and requires that the goods have smooth holding surface, and the shipment mouth still need adopt silica gel to support the cover, and this mechanism can not adapt to flexible package product. Moreover, the device is provided with two goods outlets at the radial inner layer and the radial outer layer of the top, so that goods taking of the vending machine is complex.

In addition, there are some patents in which a vending robot with a flat-layer rotary goods passage selects a mode of pushing goods out from inside to outside in a radial direction, for example, patent CN201821086798 provides a goods outlet mechanism of a column tower type vending machine. However, in this method, a goods outlet is provided at each shelf in the vertical direction, and the structure and use of the vending robot are complicated.

Therefore, there is a need in the art for a new anti-jamming storage device and intelligent vending robot including a flat-bed rotary cargo channel.

Disclosure of Invention

The invention firstly provides a free-falling goods-selling robot with a flat-layer rotary goods channel, which can adapt to flexible package products, greatly enriches the adaptability of goods and simultaneously solves the conflict between the positions of a goods outlet and a screen.

The invention firstly provides an anti-blocking goods storage device, which comprises a plurality of layers of rotary goods channels which are arranged above a goods outlet (14) of an intelligent goods selling robot and are arranged up and down, the rotary cargo channel comprises a cylindrical annular inner ring cargo channel base body (45) and a cylindrical annular outer ring cargo channel base body (44) which are arranged along the same axial line radially inside and outside, and also comprises inner ring cargo channel blades (47) and outer ring cargo channel blades (46) which are respectively arranged in the inner ring cargo channel base body and the outer ring cargo channel base body, and an inner gearing big gear (401) for driving the outer ring cargo channel blade (46) to rotate, a plurality of inner ring cargo channel blades (47) are uniformly distributed on the circumferential direction of the inner ring cargo channel, so that the inner ring cargo channel substrate (45) is equally divided into a plurality of lattices mainly used for storing goods, a plurality of outer ring cargo channel blades (46) are uniformly distributed on the circumferential direction of the outer ring cargo channel, so that the outer lane matrix (44) is equally divided into a plurality of compartments mainly used for storing goods; the inner ring cargo channel base body (45) comprises an inner ring cargo channel inner side wall (451), an inner ring cargo channel outer side wall (452) and an inner ring cargo channel bottom plate (453) which is fixed and can not rotate, the inner ring cargo channel inner side wall (451) is fixedly connected with the inner ring cargo channel blades (47) so as to rotate along with the blades, and the inner ring cargo channel outer side wall (452) is fixedly connected with the bottom plate so as to keep fixed; at least one bottom plate block corresponding to lattices on the inner ring cargo way bottom plate (453) is provided with a through hole facilitating goods to pass downwards or is arranged in an integral vacant state to form an inner ring cargo way cargo falling port (42), so that the goods can freely fall from the inner ring cargo way cargo falling port (42) to the cargo outlet (14) of the robot after being pushed by the rotation of the blades; at least one through hole convenient for goods to pass through horizontally or in an integral vacant state is arranged at the corresponding position of the grid on the outer side wall (452) of the inner ring goods channel to form an inner ring goods supplementing channel (49); the outer ring cargo channel base body (44) comprises an outer ring cargo channel inner side wall (441), an outer ring cargo channel outer side wall (442) and an outer ring cargo channel bottom plate (443) which is fixed and cannot rotate, the outer ring cargo channel inner side wall (441) is fixedly connected with outer ring cargo channel blades (46) and can rotate along with the blades, and the outer ring cargo channel outer side wall (442) is fixedly connected with the bottom plate and can keep fixed; at least one bottom plate block corresponding to the lattices on the outer ring cargo channel bottom plate (443) is provided with through holes facilitating goods to pass downwards or is set to be in an overall vacant state to form an outer ring cargo channel cargo falling port (41), so that the goods can freely fall from the outer ring cargo channel cargo falling port (41) to the cargo outlet (14) of the robot after being pushed by the rotation of the blades; at least the inner side wall and the outer side wall, corresponding to the same grid, of the outer ring cargo channel inner side wall (441) and the outer ring cargo channel outer side wall (442) are provided with through holes convenient for goods to pass horizontally or are arranged in an integral vacant state, and an outer ring cargo supplementing channel (48) is formed; the inner ring goods supplementing channel (49) and the outer ring goods supplementing channel (48) are arranged at corresponding positions in the radial direction of the rotary goods channel, so that goods in the inner ring goods channel are sequentially conveyed into the inner ring goods channel through the outer ring goods supplementing channel (48) and the inner ring goods supplementing channel (49) when being supplemented; the radial sizes of a plurality of inner ring cargo channel base bodies (45) of the multi-layer rotary cargo channel arranged up and down are consistent, the radial sizes of a plurality of outer ring cargo channel base bodies (44) are consistent, the axial leads of the multi-layer rotary cargo channel are the same, a plurality of inner ring cargo channel falling openings (42) of the multi-layer rotary cargo channel are aligned in the up-down direction, and a plurality of outer ring cargo channel falling openings (41) of the multi-layer rotary cargo channel are also aligned in the up-down direction; stifled storage goods device of goods still includes stifled goods mediation mechanism (6), stifled goods mediation mechanism (6) of outer lane and inner circle goods way stifled goods mediation mechanism (61) of outer lane and inner circle of goods way department of falling mouth (42) and stifled goods mediation mechanism (62) of inner circle are drawn together including setting up respectively at outer lane goods way and are drawn together the bracing piece of vertical setting and can be reciprocating motion's mediation claw (63) about being on the bracing piece, mediation claw (63) can stop and set up and draw together the goods mouth (41) of falling of outer lane or inner circle goods way of the rotatory goods way of top layer and can up-and-down motion to the rotatory goods way of bottom layer under outer lane of falling mouth (41) or goods way of falling mouth (42).

In a specific embodiment, the supporting rod of the outer ring goods blocking and dredging mechanism (61) is arranged on the radial outer side of the goods falling opening (41) of the outer ring goods channel, and the supporting rod of the inner ring goods blocking and dredging mechanism (62) is arranged on the radial outer side of the goods falling opening (42) of the inner ring goods channel and is arranged on the radial inner side of the inner meshing large gear (401).

In a specific embodiment, the multilayer rotary cargo channel is arranged on a bottom support plate, and the support rods of the outer ring cargo blocking and dredging mechanism (61) and the inner ring cargo blocking and dredging mechanism (62) are fixedly arranged on the bottom support plate.

The invention also provides an intelligent vending robot which comprises the anti-blocking goods storage device.

In a specific embodiment, the robot is an autonomous mobile smart vending robot.

The invention has at least the following beneficial effects: in the prior art, the vending robots with the multilayer flat-layer rotary goods channels are used for top goods delivery or flat-push goods delivery, but the vending robots adopt free-falling body goods delivery, so that the space and the cost are saved; the height of the robot can be higher than the average height of an adult, and the radial space utilization rate of the robot is high due to the arrangement of the outer ring cargo channel and the inner ring cargo channel, so that the cargo storage space is enough, and the robot is more convenient to use in a mobile vending robot. The vending robot of the invention is not only suitable for hard-packed goods, but also suitable for soft-packed goods. In addition, due to the arrangement of the goods falling port and the goods supplementing channel, the goods can be conveniently discharged and supplemented through the rotating goods channel.

Drawings

Fig. 1 is a schematic view of an external structure of an intelligent vending robot according to the present invention.

Fig. 2 is a schematic view of an internal structure of the intelligent vending robot according to the present invention.

Fig. 3 is a schematic view illustrating an internal structure of another view of the intelligent vending robot according to the present invention.

FIG. 4 is a schematic view of the connection between the outer lane cargo track driving gear and the frame base according to the present invention.

Fig. 5 is a schematic view of the connection between the blockage dredging mechanism and the motor and the framework base.

Fig. 6 is a schematic top view from a perspective of the structure shown in fig. 4 and 5.

FIG. 7 is a perspective view of the structures shown in FIGS. 4-6.

Fig. 8 is a schematic view illustrating a structure and an installation position of a multi-deck rotary goods path of the intelligent vending robot according to the present invention.

Fig. 9 is a schematic top view of the structure shown in fig. 8.

Fig. 10 is a schematic top view of a rotary cargo way of a certain floor.

Fig. 11 is a schematic perspective view of a rotary cargo channel on a certain floor.

Fig. 12 is a schematic structural view of the connection between the outer ring channel blade and the inner meshing gearwheel of a certain layer of the rotary channel.

Fig. 13 is a side view of the structure of fig. 12.

Fig. 14 is a perspective view of the inner ring structure of a layer of rotary cargo way.

Fig. 15 is a flowchart illustrating the shipment control of the robot according to the present invention.

Fig. 16 is a flowchart illustrating replenishment control performed by the robot according to the present invention.

In the figure: the device comprises a head 11, arms 12, a front screen 13, a cargo outlet 14 and a movable chassis 15; a falling cargo detection and taking layer 2, a robot main body framework 3, a rotary cargo channel 4, an outer-ring cargo channel driving gear 5, a first-layer outer-ring cargo channel driving gear 51, a second-layer outer-ring cargo channel driving gear 52, a third-layer outer-ring cargo channel driving gear 53, a fourth-layer outer-ring cargo channel driving gear 54, a fifth-layer outer-ring cargo channel driving gear 55, a framework base 31, a bottom supporting plate 32, an outer-ring cargo channel falling port 41, an inner-ring cargo channel falling port 42, a blocking and dredging mechanism 6, an outer-ring blocking and dredging mechanism 61, an inner-ring blocking and dredging mechanism 62, a dredging claw 63, a motor 7, an outer-ring driving motor 71, a multi-layer cargo channel 43, a first-layer cargo channel 431, a second-layer cargo channel 432, a third-layer cargo channel 433, a fourth-layer cargo channel 434, a fifth-layer cargo channel 435, an outer-ring cargo channel base 44, an inner-ring cargo channel base 45, outer-ring cargo, An outer lane outer side wall 442, an outer lane bottom plate 443, an inner lane inner side wall 451, an inner lane outer side wall 452, an inner lane bottom plate 453, an inner lane drive motor 72, a first layer inner lane drive motor 721, a second layer inner lane drive motor 722, a third layer inner lane drive motor 723, a fourth layer inner lane drive motor 724, a fifth layer inner lane drive motor 725, an outer lane replenishment channel 48, an inner lane replenishment channel 49, an inner meshing large gear 401, a roller 402 and a transmission rod 403.

Detailed Description

The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.

As shown in fig. 1 to 14, the present invention firstly provides a rotary cargo way, which includes a cylindrical inner-ring cargo way base (45) and a cylindrical outer-ring cargo way base (44) that are arranged along the same axial line radially inside and outside, an inner-ring cargo way blade (47) and an outer-ring cargo way blade (46) that are respectively arranged therein, and an inner-meshing large gear (401) that is used for driving the outer-ring cargo way blade (46) to rotate, wherein a plurality of inner-ring cargo way blades (47) are uniformly distributed in the circumferential direction of the inner-ring cargo way, so that the inner-ring cargo way base (45) is equally divided into a plurality of lattices that are mainly used for storing goods, and a plurality of outer-ring cargo way blades (46) are uniformly distributed in the circumferential direction of the outer-ring cargo way, so that the outer-ring cargo way base (44) is equally divided into; the inner ring cargo channel base body (45) comprises an inner ring cargo channel inner side wall (451), an inner ring cargo channel outer side wall (452) and a fixed and non-rotatable inner ring cargo channel bottom plate (453), the inner ring cargo channel inner side wall (451) is fixedly connected with the inner ring cargo channel blades (47) so as to rotate along with the blades, and the inner ring cargo channel outer side wall (452) is arranged to rotate along with the blades or fixedly connected with the bottom plate so as to keep fixed and non-movable; at least one bottom plate block corresponding to lattices on the inner ring cargo channel bottom plate (453) is provided with a through hole facilitating goods to pass downwards or is in an integral vacant state to form an inner ring cargo channel cargo falling port (42), so that the goods can freely fall from the inner ring cargo channel cargo falling port (42) to a cargo outlet (14) of a robot positioned below the rotary cargo channel after being pushed by the rotation of the blades; at least one through hole convenient for goods to pass through horizontally or in an integral vacant state is arranged at the corresponding position of the grid on the outer side wall (452) of the inner ring goods channel to form an inner ring goods supplementing channel (49); the outer ring cargo channel base body (44) comprises an outer ring cargo channel inner side wall (441), an outer ring cargo channel outer side wall (442) and an outer ring cargo channel bottom plate (443) which is fixed and can not rotate, the outer ring cargo channel inner side wall (441) is fixedly connected with outer ring cargo channel blades (46) so as to rotate along with the blades, and the outer ring cargo channel outer side wall (442) is arranged to rotate along with the blades or fixedly connected with the bottom plate so as to keep fixed and fixed; at least one bottom plate block corresponding to the lattices on the outer ring cargo channel bottom plate (443) is provided with through holes facilitating goods to pass downwards or is in an overall vacant state to form an outer ring cargo channel cargo falling port (41), so that the goods can freely fall from the outer ring cargo channel cargo falling port (41) to a cargo outlet (14) of a robot positioned below the rotary cargo channel after being pushed by the rotation of the blades; at least the inner side wall and the outer side wall, corresponding to the same grid, of the outer ring cargo channel inner side wall (441) and the outer ring cargo channel outer side wall (442) are provided with through holes convenient for goods to pass horizontally or are in an integral vacant state, and an outer ring cargo supplementing channel (48) is formed; the inner ring cargo channel cargo-falling port (42) and the outer ring cargo channel cargo-falling port (41) are arranged at corresponding positions or non-corresponding positions in the radial direction of the rotary cargo channel; and when inner circle freight way lateral wall (452) and outer lane freight way lateral wall (442) set up to when can not rotating, inner circle benefit goods passageway (49) and outer lane benefit goods passageway (48) set up in rotatory freight way footpath corresponding position, make goods in the inner circle freight way are passed through successively when replenishing goods outer lane benefit goods passageway (48) and inner circle benefit goods passageway (49) send into in the inner circle freight way.

In a particular embodiment, the inner ring of aisle blades (47) and the outer ring of aisle blades (46) are both flat plate-shaped blades arranged in a vertical plane.

In one particular embodiment, the inner raceway outer side wall (452) is fixedly attached to the inner raceway bottom plate (453) and thus remains stationary, and the outer raceway outer side wall (442) is fixedly attached to the outer raceway bottom plate (443) and thus remains stationary; at least one bottom plate block corresponding to lattices on the inner ring cargo way bottom plate (453) is set to be in an overall vacant state, and at least one bottom plate block corresponding to lattices on the outer ring cargo way bottom plate (443) is set to be in an overall vacant state; the inner ring cargo channel cargo-falling port (42) and the outer ring cargo channel cargo-falling port (41) are arranged at positions which are not corresponding to each other in the radial direction of the rotary cargo channel.

The invention also provides an intelligent vending robot comprising the rotary goods channel, wherein the intelligent vending robot comprises the rotary goods channel.

In a specific embodiment, the intelligent vending robot comprises a plurality of layers of rotating goods channels which are arranged above the goods outlet (14) and are arranged up and down, and the robot further comprises a plurality of inner ring driving motors (72) and a plurality of outer ring driving motors (71) which are respectively used for driving the inner ring goods channel blades (47) and the outer ring goods channel blades (46) to rotate.

In a specific embodiment, the radial dimension of the inner ring cargo channel base body (45) of the multi-layer rotary cargo channel arranged up and down is consistent, the radial dimension of the outer ring cargo channel base body (44) is consistent, the axial lead of the multi-layer rotary cargo channel is the same, a plurality of inner ring cargo channel falling openings (42) of the multi-layer rotary cargo channel are aligned in the up-down direction, and a plurality of outer ring cargo channel falling openings (41) of the multi-layer rotary cargo channel are also aligned in the up-down direction.

In a specific embodiment, the heights of a plurality of inner ring cargo channel base bodies (45) and a plurality of outer ring cargo channel base bodies (44) of the multi-layer rotary cargo channel are the same.

In a particular embodiment, the inner ring of the rotating multi-deck aisle matrix (45) has the same number of blades, and the outer ring of the inner ring of the outer ring of the.

In a specific embodiment, the robot further comprises two driving wheels and two universal wheels, wherein the two driving wheels and the two universal wheels are arranged at the bottom of the robot, the two driving wheels are arranged at the left side and the right side of the bottom of a movable chassis (15) of the robot, and the two universal wheels are arranged at the front side and the rear side of the bottom of the movable chassis (15).

In a specific embodiment, the inner meshing gearwheel (401) comprises a plurality of gears arranged up and down, and the inner meshing gearwheel (401) is arranged between the inner ring cargo channel base body (45) and the outer ring cargo channel base body (44) in the radial direction.

The invention also provides a goods storage device convenient for free-falling type goods delivery, which comprises a plurality of layers of rotary goods ways which are arranged above the goods delivery port (14) of the robot and are arranged up and down, wherein the rotary goods ways have the structure as described above, the radial sizes of a plurality of inner ring goods way base bodies (45) of the plurality of layers of rotary goods ways arranged up and down are consistent, the radial sizes of a plurality of outer ring goods way base bodies (44) are consistent, the axial leads of the plurality of layers of rotary goods ways are the same, a plurality of inner ring goods way goods delivery ports (42) of the plurality of layers of rotary goods ways are aligned in the up-down direction, and a plurality of outer ring goods way delivery ports (41) of the plurality of layers of rotary goods ways are also aligned in the up-down direction; the number of inner ring cargo channel blades (47) in the inner ring cargo channel base body (45) of each upper layer in the multi-layer rotary cargo channel is not less than that of the inner ring cargo channel blades (47) in the inner ring cargo channel base body (45) of the adjacent lower layer, and the number of outer ring cargo channel blades (46) in the outer ring cargo channel base body (44) of each upper layer in the multi-layer rotary cargo channel is not less than that of the outer ring cargo channel blades (46) in the outer ring cargo channel base body (44) of the adjacent lower layer; the number of the inner ring cargo channel blades in a plurality of inner ring cargo channel base bodies (45) of the multi-layer rotary cargo channel is different, so that the number of the inner ring cargo channel blades (47) in at least one upper layer of inner ring cargo channel base body (45) is larger than that of the inner ring cargo channel blades (47) in a lower layer of inner ring cargo channel base body (45), and the size of the inner ring cargo channel cargo falling port (42) of the upper layer is smaller than that of the inner ring cargo channel cargo falling port (42) of the lower layer; or the number of the outer ring cargo channel blades in a plurality of outer ring cargo channel base bodies (44) of the multi-layer rotary cargo channel is different, so that the number of the outer ring cargo channel blades (46) in the outer ring cargo channel base body (44) of at least one upper layer is larger than that of the outer ring cargo channel blades (46) in the outer ring cargo channel base body (44) of a lower layer, and the size of the outer ring cargo channel falling port (41) of the upper layer is smaller than that of the outer ring cargo channel falling port (41) of the lower layer.

In a specific embodiment, the number of the inner ring channel blades (47) in the inner ring channel base body (45) of each layer in the multi-layer rotary channel is different, so that the sizes of a plurality of inner ring channel drop openings (42) from bottom to top of each layer are reduced in sequence; and/or the number of outer ring cargo channel blades (46) in the outer ring cargo channel base body (44) of each layer in the multi-layer rotary cargo channel is different, so that the sizes of a plurality of outer ring cargo channel falling openings (41) from bottom to top of each layer are reduced in sequence.

The invention also provides a robot which comprises the goods storage device convenient for free falling type goods delivery.

The goods storage device arranged in this way can be suitable for the upper layer to place small and light goods, and the lower layer is used for placing slightly larger goods. The rotary goods channel is more upward, more grids can be divided by blades, and the goods falling port is gradually reduced from bottom to top, so that the goods falling from the upper layer cannot be influenced, and the goods containing capacity is greatly improved.

The invention also provides a goods storage device of the intelligent vending machine, which comprises at least one layer of rotary goods channel arranged above the goods outlet (14) of the intelligent vending machine, the structure of the rotary goods channel is as described above,

the inner ring goods supplementing channel (49) and the inner ring goods falling port (42) are arranged between adjacent lattices, so that the inner ring goods falling channel blades (47) on the same layer can rotate forwards to deliver goods and rotate backwards to supplement goods under the driving of the same inner ring driving motor (72), or vice versa; the outer ring goods supplementing channel (48) and the outer ring goods falling port (41) are arranged between adjacent lattices, so that the outer ring goods falling channel blades (46) on the same layer can rotate forwards to deliver goods and rotate backwards to supplement goods under the driving of the same outer ring driving motor (71), or vice versa.

In a specific embodiment, the inner ring cargo supplementing channel (49) and the outer ring cargo supplementing channel (48) are arranged at the radial corresponding positions of the rotary cargo channel, so that the inner ring cargo supplementing channel and the outer ring cargo supplementing channel form a linear cargo supplementing channel, and in the same rotating direction of the rotary cargo channel, the outer ring cargo channel cargo dropping opening (41) and the inner ring cargo channel cargo dropping opening (42) are respectively arranged at the upstream and the downstream of the linear cargo supplementing channel, so that the outer ring cargo dropping opening (41), the linear cargo supplementing channel and the inner ring cargo channel cargo dropping opening (42) are sequentially arranged adjacently in the circumferential direction of the rotary cargo channel.

The invention also provides a robot, which comprises the goods storage device of the intelligent vending machine.

The invention also provides a goods storage device for preventing blockage, which comprises a plurality of layers of rotary goods channels which are arranged above the goods outlet (14) of the intelligent goods selling robot and are arranged up and down, the structure of the rotary goods channel is as above, the goods storage device for preventing blockage also comprises a blockage dredging mechanism (6), the goods blocking and dredging mechanism (6) comprises an outer ring goods blocking and dredging mechanism (61) and an inner ring goods blocking and dredging mechanism (62) which are respectively arranged at a goods falling port (41) of an outer ring goods channel and a goods falling port (42) of an inner ring goods channel, and both comprise a supporting rod which is vertically arranged and a dredging claw (63) which can do up-and-down reciprocating motion on the supporting rod, the dredging claw (63) can stay and be arranged right above an outer ring cargo channel cargo falling port (41) or an inner ring cargo channel cargo falling port (42) of the top layer rotary cargo channel and can move up and down to be arranged right below the outer ring cargo channel cargo falling port (41) or the inner ring cargo channel cargo falling port (42) of the bottom layer rotary cargo channel.

The invention also provides a goods storage device for the vending robot, which comprises a plurality of layers of rotary goods ways which are arranged above the goods outlet (14) of the vending robot and are arranged up and down, wherein the rotary goods ways have the structure as described above, the radial sizes of a plurality of inner ring goods way base bodies (45) of the plurality of layers of rotary goods ways arranged up and down are consistent, the radial sizes of a plurality of outer ring goods way base bodies (44) are consistent, the axial leads of the plurality of layers of rotary goods ways are the same, a plurality of inner ring goods way goods falling openings (42) of the plurality of layers of rotary goods ways are aligned in the up-down direction, and a plurality of outer ring goods way goods falling openings (41) of the plurality of layers of rotary goods ways are also aligned in the up-down direction; the goods storage device further comprises an inner ring driving motor (72) arranged on the radial inner side of the inner ring goods channel inner side wall (451) and an outer ring driving motor (71) arranged below the multilayer rotary goods channel, a plurality of outer ring driving motors (71) corresponding to the multilayer rotary goods channel are respectively connected with a plurality of outer ring goods channel driving gears (5) through a vertically arranged transmission rod (403), and the plurality of outer ring goods channel driving gears (5) are respectively used for being meshed with a plurality of inner meshing large gears (401) of the multilayer rotary goods channel, so that each layer of outer ring goods channel blades (46) are respectively driven to rotate.

In a specific embodiment, the outer ring cargo channel driving gear (5), the inner meshing gear wheel (401) and the transmission rod (403) are arranged between the inner ring cargo channel side wall (441) and the inner ring cargo channel side wall (452) in the radial direction; in the height direction, an outer ring cargo channel driving gear (5) and an inner meshing large gear (401) of the rotary cargo channels on different layers are arranged at different height positions, the two gears are arranged corresponding to each layer of rotary cargo channel, and correspondingly, the heights of the transmission rods (403) are different.

In a specific embodiment, the multilayer rotary cargo way is arranged on the bottom supporting plate, the outer ring driving motors (71) are fixedly arranged on the lower surface of the bottom supporting plate, and the transmission rods (403) and the outer ring cargo way driving gears (5) are also fixedly arranged on the bottom supporting plate directly or indirectly.

In one embodiment, the radially inner side of the inner wall (451) of the inner ring track of each rotary track is provided with a ring gear set driven by an inner ring drive motor (72), and each inner ring track is provided with an independent inner ring drive motor (72) for driving the inner ring track blades (47) to rotate through the ring gear set.

The invention also provides an intelligent vending robot which comprises the goods storage device.

The invention also provides an automatic vending robot, which comprises a goods outlet (14) arranged below the automatic vending robot and a plurality of layers of rotary goods ways which are arranged above the goods outlet (14) and are arranged up and down, wherein the rotary goods ways are structurally as described above, the automatic vending robot further comprises a correlation photoelectric sensor and a reflection photoelectric sensor, the correlation photoelectric sensor is arranged above the goods outlet (14) and is used for detecting whether goods are successfully delivered, the reflection photoelectric sensor is arranged on the inner goods way and the outer goods way of each layer of rotary goods way, and a reflector is arranged on each outer goods way blade (46) and each inner goods way blade (47), and the reflector and the reflection photoelectric sensor are used for controlling the stop of the outer ring driving motor (71) or the inner ring driving motor (72).

In a specific embodiment, the automatic vending robot further comprises a goods blocking and dredging mechanism (6), the goods blocking and dredging mechanism (6) comprises an outer ring goods blocking and dredging mechanism (61) and an inner ring goods blocking and dredging mechanism (62) which are respectively arranged at the goods falling port (41) of the outer ring goods channel and the goods falling port (42) of the inner ring goods channel, the outer ring goods blocking and dredging mechanism and the inner ring goods blocking and dredging mechanism both comprise a vertically arranged supporting rod and a dredging claw (63) capable of reciprocating up and down on the supporting rod, and the dredging claw (63) can be stopped and arranged right above the goods falling port (41) of the outer ring goods channel or the goods falling port (42) of the inner ring goods channel of the top layer rotating goods channel and can move up and down to be right below the goods falling port (41) of the outer ring goods channel or the goods falling port (42) of the inner ring goods channel of the bottom layer rotating; and the upper and lower limiting positions of the outer ring blockage dredging mechanism (61) and the inner ring blockage dredging mechanism (62) are respectively provided with a reflective photoelectric sensor for detecting and controlling the maximum position of the up-and-down movement of the dredging claw (63).

In a particular embodiment, the vending robot is an autonomous mobile smart vending robot.

The invention also provides a control method of the automatic vending robot, and the shipment control method of the automatic vending robot comprises the following steps: when the robot receives an instruction and needs to deliver goods, the position of the blade on the corresponding rotating goods channel is reset, then an outer ring driving motor (71) or an inner ring driving motor (72) of the corresponding layer is controlled to start, so that the blade starts to rotate, when the reflective photoelectric sensor detects a signal that the blade reaches the corresponding position, the motor stops, and whether goods exist at a goods outlet or not is detected through the correlation photoelectric sensor; if no commodity exists in the goods outlet, the goods blocking and dredging mechanism (6) is controlled to dredge the goods falling port, and successful goods outlet is ensured.

The invention also provides a control method of the automatic vending robot, and the replenishment control method of the automatic vending robot comprises the following steps: when the robot receives a replenishment command, the position of the blade on the corresponding rotary cargo channel is reset, and then an outer ring driving motor (71) or an inner ring driving motor (72) of the corresponding layer is controlled to start, so that the blade starts to rotate; and when the reflective photoelectric sensor detects a signal that the blade reaches the corresponding position, the motor stops.

Fig. 1 is a schematic view of an external structure of an intelligent vending robot according to the present invention. In appearance, the robot includes: head 11, arms 12, a body including a front screen 13 and a cargo outlet 14, and a mobile chassis 15. The robot sets up to be all openable for the front and back door, and the visible rotatory goods way device of back door after opening, rotatory goods way device and 3 bolted connection of robot main part skeleton.

Fig. 2 is a schematic view of an internal structure of the intelligent vending robot according to the present invention. As can be seen from figure 2, the robot comprises five layers of rotary goods channels which are arranged up and down, and each layer of rotary goods channel can be disassembled independently, so that the maintenance and the replacement are convenient.

As can be seen from fig. 1 to 14, in the mobile vending robot provided by the present invention, each goods has an independent grid, and the goods do not interfere with each other. The range of goods which can be adapted among each grid is more, and the goods can be adapted to the soft package. The goods discharging of the inner ring goods channel and the outer ring goods channel of each layer can be independently controlled, and products with various specifications and types can be conveniently arranged. In the embodiment, the goods passage has five layers, the inner ring five layers share the goods passage falling port 42 of the inner ring, the outer ring five layers share the goods passage falling port 41 of the outer ring, and the utilization rate of the whole goods storage space is high. In the present invention, it is preferable that each of the independent cells between the upper and lower layers has a different size, and it is preferable that each of the independent cells is larger from the top to the bottom, and the size of the cell between the inner ring and the outer ring may be set to be different. The inner circles of the same layer preferably have the same size, and the outer circles of the same layer preferably have the same size. Due to the arrangement, the robot can sell goods with various sizes.

In the invention, each layer is provided with an inner ring cargo channel and an outer ring cargo channel which are independently controlled. The blades of the goods channel on the outer ring rotate to push all goods on the outer ring to move, and the blades of the goods channel on the inner ring rotate to push all goods on the inner ring to move. The space between the blades of each layer can be gradually reduced from bottom to top so as to adapt to the upper layer for placing small and light goods and the lower layer for placing goods with slightly larger size and slightly larger weight. This rotatory goods way adopts modular mechanism, superposes from top to bottom, can freely arrange, and the part universalization is high, has effectively reduced manufacturing cost.

The invention pushes goods and discharges goods in free falling through the rotary blade, thereby adapting to the diversity of goods packaging. The invention is matched with a goods channel anti-blocking mechanism similar to an elevator, thereby effectively ensuring the success rate of goods delivery. The inner ring and the outer ring of each layer of the rotary goods channel can be independently controlled, so that the number of the goods channels of goods is effectively increased, and the types of the goods which can be placed are increased. This rotatory goods way is toward the upper strata more, can divide more check by the blade etc. and between, the mouth of falling the goods dwindles from lower floor to the upper strata gradually, can not influence the free falling body motion of upper goods like this, has improved the volume of holding the goods simultaneously greatly. The outer lane shown in fig. 11 employs a thirteen-equal sector lattice structure. In the robot, each layer of goods channel is provided with a goods supplementing channel, and the goods supplementing channel penetrates through the outer ring goods channel and the inner ring goods channel. Thus, the restocking channel of each level includes an outer ring restocking channel 48 and an inner ring restocking channel 49. Specifically, the outer ring replenishment passage 48 is provided such that both of the radially inner and outer opposite side walls thereof are provided in a through-hole structure in the cell, preferably both of the radially inner and outer opposite side walls thereof are in a missing state, while the inner ring replenishment passage 49 is provided such that the radially outer side wall thereof is provided in a through-hole structure in the cell, preferably the radially outer side wall thereof is in a missing state.

As shown in fig. 11, the outer-ring raceway base 44 of each layer includes at least an outer-ring raceway inner side wall 441, an outer-ring raceway outer side wall 442, and an outer-ring raceway bottom plate 443, wherein the outer-ring raceway bottom plate 443 does not rotate with the outer-ring raceway blades 46, the outer-ring raceway inner side wall 441 is fixedly connected with the outer-ring raceway blades 46 so as to rotate with the blades, and the outer-ring raceway outer side wall 442 may be configured to rotate with the blades or to be fixed as the bottom plate, and preferably, the outer-ring raceway outer side wall 442 is configured to be fixed. At least one bottom plate block corresponding to the grids on the outer ring cargo channel bottom plate 443 is in an overall vacant state, and an outer ring cargo channel falling port 41 is formed, so that the cargo is freely dropped from the outer ring cargo channel falling port 41 to the cargo outlet 14 of the robot after being pushed by the rotation of the blades. At least one inner side wall and at least one outer side wall corresponding to the cells on the outer side wall 442 of the outer lane cargo channel 441 are in an integral vacant state to form an outer lane cargo supplementing channel 48. The outer ring driving motor 71 drives the blades to rotate, and the blades rotate forward to discharge goods and reverse to replenish the goods, or vice versa, and before the blades rotate to replenish the goods, the goods are sent into the outer ring goods channel and the inner ring goods channel through the outer ring goods replenishing channel 48.

Similarly, each inner circumferential channel substrate 45 includes at least an inner circumferential channel inner side wall 451, an inner circumferential channel outer side wall 452, and an inner circumferential channel bottom wall 453, wherein the inner circumferential channel bottom wall 453 does not rotate with the inner circumferential channel blades 47, the inner circumferential channel inner side wall 451 is fixedly connected to the inner circumferential channel blades 47 so as to rotate with the blades, and the inner circumferential channel outer side wall 452 may be configured to rotate with the blades or to remain stationary with the bottom wall, and preferably the inner circumferential channel outer side wall 452 is configured to remain stationary. At least one bottom plate block corresponding to lattices on the inner ring cargo way bottom plate 453 is in an overall vacant state to form an inner ring cargo way cargo falling port 42, so that the cargo is freely fallen from the inner ring cargo way cargo falling port 42 to the cargo outlet 14 of the robot after being pushed by the rotation of the blades. At least one corresponding part between lattices on the outer side wall 452 of the inner ring cargo channel is in an integral vacant state to form an inner ring cargo supplementing channel 49. The inner ring driving motor 72 drives the blades to rotate, and the goods are delivered in a forward rotation mode and supplemented in a reverse rotation mode or vice versa, and before the blades rotate and are supplemented, the goods are delivered into the inner ring goods channel through the inner ring goods supplementing channel 49.

When the outer side wall 442 of the outer ring cargo channel and the outer side wall 452 of the inner ring cargo channel are both arranged to rotate together with the blades, the outer ring cargo supplementing channel 48 and the inner ring cargo supplementing channel 49 both rotate to different lattice intervals with the outer ring cargo channel cargo dropping port 41 and the inner ring cargo channel cargo dropping port 42, and then the device is supplemented with goods, and at this time, a bottom plate is arranged between lattices corresponding to the outer ring cargo supplementing channel 48 and the inner ring cargo supplementing channel 49.

When the outer side wall 442 and the outer side wall 452 of the outer ring cargo way and the inner side wall 452 of the inner ring cargo way are both configured not to rotate together with the blades, the outer ring cargo supplementing channel 48 and the inner side cargo supplementing channel 49, the outer ring cargo channel cargo dropping port 41 and the inner side cargo dropping port 42 are both configured between different lattices, preferably, the two are configured between adjacent lattices, so that the inner side cargo ways on the same layer are driven by the same motor to forward rotate for cargo discharge and reverse rotate for cargo supplement, or vice versa; and the outer ring cargo channel on one layer is driven by the same motor to forward and reversely rotate for delivery and replenishment or vice versa.

As shown in fig. 11, each deck is provided with a replenishment passage, which penetrates through the outer-ring cargo passage and the inner-ring cargo passage.

As shown in fig. 15, the outer-ring blockage dredging mechanism 61 and the inner-ring blockage dredging mechanism 62 are respectively disposed beside the outer-ring cargo-channel cargo-dropping opening 41 and the inner-ring cargo-channel cargo-dropping opening 42, the outer-ring blockage dredging mechanism 61 is disposed on the radial outer side of the outer-ring cargo-channel cargo-dropping opening 41, the inner-ring blockage dredging mechanism 62 is disposed on the radial outer side of the inner-ring cargo-channel cargo-dropping opening 42, and the inner-ring blockage dredging mechanism 62 is disposed on the radial inner side of the inner-ring blockage dredging mechanism 401.

The bottom supporting plate is arranged below the multilayer rotary goods channel, and two elevator lifting mechanisms, namely the outer ring goods blocking and dredging mechanism 61 and the inner ring goods blocking and dredging mechanism 62, are fixedly arranged on the bottom supporting plate; the dredging claw 63 is stopped at the uppermost position at ordinary times, namely, is stopped above the goods falling port of the rotary goods channel at the highest layer, and when the goods falling port senses the failure of goods discharging, the dredging claw 63 moves downwards to the goods falling port of the rotary goods channel at the bottommost layer and then returns to the top position for dredging the blocked goods.

The outer ring and the inner ring of the same layer of cargo way are respectively driven by an outer ring driving motor 71 and an inner ring driving motor 72, as shown in the figure, the outer ring driving motor 71 comprises five motors for five layers of cargo ways, and the inner ring driving motor 72 also comprises five motors for five layers of cargo ways. Specifically, the outer ring drive motors 71 are disposed on the lower surface of the bottom support plate below the bottommost layer of the rotary lane, and the inner ring drive motors 72 are disposed at the radial center positions of the inner ring lanes of the upper and lower layers of the lanes.

As shown in fig. 5, in this embodiment, there are 5 layers of rotating cargo ways, five outer ring driving motors 71 on the 5 layers of outer rings are all fixed on the bottom support plate, and the outer ring driving motors 71 drive the five outer ring cargo way driving gears 5 and the inner gearing large gears 401 on each layer to drive the blades 46 on each outer ring cargo way to rotate to push cargo for shipment or reverse cargo replenishment. The outer ring cargo channel driving gear 5, the inner meshing gear wheel 401 and the transmission rod 403 of each layer for driving the blades in the outer ring cargo channel are arranged between the inner side wall 441 of the outer ring cargo channel and the outer side wall 452 of the inner ring cargo channel in the radial direction, and in the height direction, the outer ring cargo channel driving gear 5 and the inner meshing gear wheel 401 of different layers of cargo channels are arranged at different height positions and are arranged corresponding to each layer of cargo channel; accordingly, the heights of the driving levers 403 for driving each outer lane are different.

As shown in fig. 15, the outer lane of the cargo channel blade 46 of each layer is fixedly connected with the inner meshing large gear 401 of the layer through screws, and is guided by the roller 402 to rotate at a low speed in the groove-shaped structure on the cargo channel.

An inner meshing gear set driven by a motor is arranged at the radial center of the inner ring cargo channel of each layer, each layer is provided with an independent driving motor, and the inner ring is provided with an independent and fixed-position cargo dropping opening.

Five outer ring driving motors 71, five transmission rods 403, five outer ring cargo channel driving gears 5 and the like are integrated on the bottom supporting plate. Such an arrangement may accommodate a narrow space within the robot.

The space separated by the movable blades is used for placing goods, which is called as a compartment in the invention, but actually, the relative movement trend is formed between the bottom plate and the side wall of the compartment during the goods delivery and the goods replenishment. In this embodiment, as shown in fig. 11, the outer ring of each cargo way is divided into 13 equal divisions, wherein one replenishment passage is empty, one falling passage does not contain any goods, and the outer ring contains 11 goods. The inner ring of each layer of goods passage is divided into 8 equal divisions, wherein one division of the goods replenishing passage is empty, one division of the goods falling passage is not used for placing goods, and 6 goods are placed in the inner ring. Thus, a total of 17 items can be placed per layer. As shown in fig. 2, the rotary cargo way of the present embodiment has 5 layers, and 85 articles can be placed at most. In addition, the size and the number of the goods can be adjusted and adapted as long as the number of the equal grids of the inner circle and the outer circle is reasonably adjusted. That is, in the present invention, the number of the rotating blades of the inner ring and the outer ring of the rotating lane of each layer in each cylindrical rotating rack can be freely set.

In the invention, the delivery mode of the rotary cargo channel comprises the following steps: the customer scans the code to select the goods → pays → the goods is pushed to the goods falling port by the motor-driven blade of the goods channel where the goods is located → the goods falls to the goods outlet → the goods is sensed to fall by the goods outlet → the electromagnetic lock of the goods outlet is opened → the customer takes the goods.

In the invention, the replenishment mode of the rotary cargo channel comprises the following steps: the vertical side wall of the goods channel of the inner ring and the outer ring of each layer is provided with a goods supplementing opening, the goods supplementing opening of the outer ring is communicated with the goods supplementing opening of the inner ring, and the goods can be directly supplemented to the inner ring through the goods supplementing opening of the outer ring. The motor drives the blades to rotate reversely to move for replenishment, namely the rotation direction of the delivery blade is opposite to that of the replenishment blade.

The mobile intelligent vending robot can also comprise a human-computer interaction panel, an inductive switch, a laser radar, a binocular camera, an ultrasonic sensor, an infrared sensor, a driving wheel motor, universal wheels and a lithium battery, and the components are connected to the central controller through wires. The ultrasonic sensors are arranged on the periphery of the robot shell, and the infrared sensors are obliquely arranged downwards. Still install thermal imaging camera on the robot housing, thermal imaging camera passes through the wire and is connected with central controller, thermal imaging camera is used for detecting crowd's intensive degree. The man-machine interaction panel is used for displaying the payment two-dimensional code and the self-defined advertising propaganda. Install voice module in the robot shell, voice module passes through the wire and is connected with central controller, voice module is used for robot and people to realize pronunciation interdynamic.

Preferably, a voltage detector is arranged in the robot, the voltage detector is arranged on a lead between the lithium battery and the central controller, and the voltage detector is used for detecting the residual electric quantity in the lithium battery.

Preferably still be provided with the vibrations inductor in the robot, the vibrations inductor passes through the wire and is connected with central controller, gather data and send out the police dispatch newspaper when vibrations inductor is used for the robot to take place, for example appear stealing or can take place vibrations by the robot when the condition such as violent striking.

In addition, aiming at the prior art, the vending robot has single operation function, lacks user interaction and is not advanced with the time; or the manual operation is easy to be mistaken, so that the wrong commodity is purchased. The goods falling abnormally by the vending robot in the prior art cannot be processed; or the problem that the user who purchases more goods can be caused by the fact that the user forgets to take the goods after paying due to misoperation of the user is solved.

Specifically, the robot provided by the invention has a voice interaction function, so that a user can chat with a vending machine, select commodities, look up weather, look up routes and the like, and the robot is very simple to operate and has a powerful function. The opposite-type photoelectric sensor is arranged at the goods outlet of the goods and used for detecting the normal falling of the goods; and a movable clapboard device is arranged below the commodity outlet and used for recycling commodities. When the goods are delivered by mistake or the goods are not taken by the user after delivery, the goods are automatically recovered.

The commodity shipment logic of the invention is as follows: the system defaults to an idle mode, and when a voice keyword is recognized or a key signal is triggered, the system enters a user interaction mode. Under the interactive mode, the user can carry out voice communication with the machine, and related contents can be related to purchased commodities or can be functions of ordinary chatting, weather inquiry, line inquiry and the like. After the user selects the commodity, the user needs to scan the code for payment, and then the system enters a shipment state. In the shipment state, the system control shipment motor rotates the round, then detects the correlation formula photoelectric sensor of shipment mouth, judges whether successful shipment.

The commodity recycling logic of the invention is as follows: after the correlation formula photoelectric sensor of shipment mouth detects that there is commodity to fall, divide two kinds of situations to handle: first, the system judges that the goods are dropped because of factors such as shaking of the machine, and the like, instead of dropping the goods normally purchased by the user, the system judges that the goods are dropped abnormally, and opens the recovery partition plate to automatically recover the goods. Secondly, the system judges that the goods normally purchased by the user fall off, and after a period of time (for example, 2 minutes) and the goods are not taken out, the system judges that the user forgets to take the goods, and opens the recovery partition plate to automatically recover the goods.

Under normal conditions, when the goods was stirred by the blade and was removed to the goods mouth position that falls, the goods can directly drop to the shipment mouth.

And a correlation photoelectric sensor is arranged above the goods outlet and used for detecting whether goods are successfully delivered.

The correlation type photoelectric sensor is also called a correlation type photoelectric sensor. The emitting end emits red light or infrared light, and the receiving end receives the red light or infrared light. When an object is cut off by the light, a signal is output. Four pins of the correlation type photoelectric sensor refer to electric wires, the emission end of the correlation type photoelectric sensor is only connected with a brown wire and a blue wire, the brown wire is connected with a positive electrode, and the blue wire is connected with a negative electrode. The receiving end of the signal receiving circuit is connected with a black line, namely a signal output line, besides the brown line and the blue line. The correlation photoelectric sensor can be directly obtained commercially.

If the goods are clamped at the goods outlet, the motor drives the blocking and dredging mechanism 6 to dredge the goods outlet, and reflective photoelectric sensors are arranged at the upper limit position and the lower limit position of the blocking and dredging mechanism 6 and used for detecting the maximum position of the up-and-down movement of the dredging claw 63.

Reflective photoelectric sensors are arranged on the outer lane and the inner lane of each layer of lane, a reflector is arranged on each outer lane blade 46 and each inner lane blade 47, and when the blades move a distance between grids, the reflective photoelectric sensors detect signals and stop rotating the outer lane driving motor 71 or the inner lane driving motor 72.

The reflection-type photoelectric sensor is a photoelectric sensor which is characterized in that a transmitter and a receiver are arranged in the same device, a reflecting plate is arranged in front of the transmitter and the receiver, and the photoelectric control function is completed by utilizing the reflection principle. The device can be used for detecting the change of ground light and shade and color and detecting whether an approaching object exists or not. The reflection type photoelectric sensor is provided with a light source and a light receiving device, light emitted by the light source is reflected by an object to be detected and received by the photosensitive element, and the light is processed by a related circuit to obtain required information. The reflective photoelectric sensor is not influenced by the shape, color and material of the detected object; and compared with a correlation photoelectric sensor, the reflection type photoelectric sensor saves the installation and use space. The reflective photoelectric sensor can be directly obtained commercially.

Each layer of goods channel is provided with an independent button at the periphery for use when replenishing goods, and the outer ring driving motor 71 or the inner ring driving motor 72 is reversely rotated so as to replenish goods.

The structure of the embodiment of the invention is composed of a plurality of layers of goods channels (the upper layer and the lower layer are multi-layer, the specific layer number can be dynamically adjusted), each layer of goods channel comprises two circular goods channels of an inner ring and an outer ring, the two parts of the inner ring and the outer ring are independently controlled, and different goods can be loaded. Blades which are uniformly distributed are arranged in each inner ring cargo channel and each outer ring cargo channel and are used for separating goods and pushing the goods to rotate along the bottom plate. Each inner ring cargo channel and each outer ring cargo channel are provided with an area without a bottom surface, namely a cargo falling port, and when goods are pushed to the area, the goods can fall freely and fall to realize delivery. In the area of the landing opening, there is a dredging claw 63 which can move up and down like an elevator cage for dredging the landing opening and the discharge opening. The edges of each inner ring cargo channel and each outer ring cargo channel are provided with a reflective photoelectric sensor, and when a blade passes through the reflective photoelectric sensors, the reflective photoelectric sensors can be used for detecting the position of the blade, so that the starting and stopping of the outer ring driving motor 71 and the inner ring driving motor 72 are controlled. And the delivery port is provided with a correlation photoelectric sensor for detecting whether goods are delivered smoothly.

As shown in fig. 15, the shipment control flow of the present invention is as follows: when the machine receives a command to deliver goods, the position of the blade on the corresponding goods channel is reset, and then the outer ring driving motor 71 or the inner ring driving motor 72 is controlled to start to drive the blade to rotate. When the signals that the blades reach the corresponding positions are detected, the motor stops, and whether goods exist at the goods outlet or not is detected through the correlation type photoelectric sensor. If no commodity exists in the goods outlet, the goods blocking and dredging mechanism 6 is controlled to dredge the goods falling port and the goods outlet, and successful goods outlet is guaranteed.

As shown in fig. 16, the replenishment control process of the present invention is as follows: when the machine receives a replenishment command, the position of the blade on the corresponding cargo channel is reset, and then the outer ring driving motor 71 or the inner ring driving motor 72 is controlled to start to drive the blade to rotate. When the signals that the blades reach the corresponding positions are detected, the motor stops.

The above examples are only for clearly illustrating the technical solutions of the present invention, and are not intended to limit the embodiments of the present invention. Any other changes or modifications of the equivalent technical features without changing the basic idea and essence of the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. An anti-blocking goods storage device comprises a plurality of layers of rotary goods channels which are arranged above a goods outlet (14) of an intelligent goods selling robot and are arranged up and down,

the rotary cargo channel comprises a cylindrical annular inner-ring cargo channel base body (45) and a cylindrical annular outer-ring cargo channel base body (44) which are arranged radially inwards and outwards with the same axial lead, and further comprises inner-ring cargo channel blades (47) and outer-ring cargo channel blades (46) which are respectively arranged in the inner-ring cargo channel base body and the outer-ring cargo channel blades (46), and an inner-meshing large gear (401) which is used for driving the outer-ring cargo channel blades (46) to rotate, wherein the inner-ring cargo channel blades (47) are uniformly distributed in the circumferential direction of the inner-ring cargo channel, so that the inner-ring cargo channel base body (45) is equally divided into a plurality of lattices which are mainly used for storing goods, and the outer-ring cargo channel blades (46) are uniformly distributed in the circumferential direction of the outer-ring cargo channel;

the inner ring cargo channel base body (45) comprises an inner ring cargo channel inner side wall (451), an inner ring cargo channel outer side wall (452) and an inner ring cargo channel bottom plate (453) which is fixed and can not rotate, the inner ring cargo channel inner side wall (451) is fixedly connected with the inner ring cargo channel blades (47) so as to rotate along with the blades, and the inner ring cargo channel outer side wall (452) is fixedly connected with the bottom plate so as to keep fixed; at least one bottom plate block corresponding to lattices on the inner ring cargo way bottom plate (453) is provided with a through hole facilitating goods to pass downwards or is arranged in an integral vacant state to form an inner ring cargo way cargo falling port (42), so that the goods can freely fall from the inner ring cargo way cargo falling port (42) to the cargo outlet (14) of the robot after being pushed by the rotation of the blades; at least one through hole convenient for goods to pass through horizontally or in an integral vacant state is arranged at the corresponding position of the grid on the outer side wall (452) of the inner ring goods channel to form an inner ring goods supplementing channel (49);

the outer ring cargo channel base body (44) comprises an outer ring cargo channel inner side wall (441), an outer ring cargo channel outer side wall (442) and an outer ring cargo channel bottom plate (443) which is fixed and cannot rotate, the outer ring cargo channel inner side wall (441) is fixedly connected with outer ring cargo channel blades (46) and can rotate along with the blades, and the outer ring cargo channel outer side wall (442) is fixedly connected with the bottom plate and can keep fixed; at least one bottom plate block corresponding to the lattices on the outer ring cargo channel bottom plate (443) is provided with through holes facilitating goods to pass downwards or is set to be in an overall vacant state to form an outer ring cargo channel cargo falling port (41), so that the goods can freely fall from the outer ring cargo channel cargo falling port (41) to the cargo outlet (14) of the robot after being pushed by the rotation of the blades; at least the inner side wall and the outer side wall, corresponding to the same grid, of the outer ring cargo channel inner side wall (441) and the outer ring cargo channel outer side wall (442) are provided with through holes convenient for goods to pass horizontally or are arranged in an integral vacant state, and an outer ring cargo supplementing channel (48) is formed;

the inner ring goods supplementing channel (49) and the outer ring goods supplementing channel (48) are arranged at corresponding positions in the radial direction of the rotary goods channel, so that goods in the inner ring goods channel are sequentially conveyed into the inner ring goods channel through the outer ring goods supplementing channel (48) and the inner ring goods supplementing channel (49) when being supplemented;

the radial sizes of a plurality of inner ring cargo channel base bodies (45) of the multi-layer rotary cargo channel arranged up and down are consistent, the radial sizes of a plurality of outer ring cargo channel base bodies (44) are consistent, the axial leads of the multi-layer rotary cargo channel are the same, a plurality of inner ring cargo channel falling openings (42) of the multi-layer rotary cargo channel are aligned in the up-down direction, and a plurality of outer ring cargo channel falling openings (41) of the multi-layer rotary cargo channel are also aligned in the up-down direction;

stifled storage goods device of goods still includes stifled goods mediation mechanism (6), stifled goods mediation mechanism (6) of outer lane and inner circle goods way stifled goods mediation mechanism (61) of outer lane and inner circle of goods way department of falling mouth (42) and stifled goods mediation mechanism (62) of inner circle are drawn together including setting up respectively at outer lane goods way and are drawn together the bracing piece of vertical setting and can be reciprocating motion's mediation claw (63) about being on the bracing piece, mediation claw (63) can stop and set up and draw together the goods mouth (41) of falling of outer lane or inner circle goods way of the rotatory goods way of top layer and can up-and-down motion to the rotatory goods way of bottom layer under outer lane of falling mouth (41) or goods way of falling mouth (42).

2. The blockage-preventing cargo storage device according to claim 1, wherein the support rod of the outer-ring blockage dredging mechanism (61) is arranged on the radial outer side of the outer-ring cargo channel cargo dropping opening (41), and the support rod of the inner-ring blockage dredging mechanism (62) is arranged on the radial outer side of the inner-ring cargo channel cargo dropping opening (42) and is arranged on the radial inner side of the inner-meshing large gear (401).

3. The blockage-preventing goods storage device according to claim 1, wherein the plurality of layers of rotary goods channels are arranged on the bottom support plate, and the support rods of the outer-ring blockage dredging mechanism (61) and the inner-ring blockage dredging mechanism (62) are fixedly arranged on the bottom support plate.

4. An intelligent vending robot comprising the anti-blocking cargo storage device according to any one of claims 1 to 3.

5. The intelligent vending robot of claim 4, wherein the robot is an autonomous mobile intelligent vending robot.

6. Robot according to claim 4, characterized in that the inner lane drop opening (42) and the outer lane drop opening (41) are arranged at non-corresponding positions in the radial direction of the rotating lane.

7. A robot according to claim 4, characterized in that the robot further comprises a plurality of inner circle drive motors (72) and a plurality of outer circle drive motors (71) for driving the inner circle lane blades (47) and the outer circle lane blades (46) in rotation, respectively.

8. The robot as recited in claim 4, characterized in that the heights of a plurality of inner lane bases (45) and a plurality of outer lane bases (44) of the multi-level rotary lane are the same; the inner ring cargo channel blade (47) and the outer ring cargo channel blade (46) are both flat-plate-shaped blades arranged in a vertical plane.

9. The robot according to claim 4, characterized in that the robot further comprises two driving wheels and two universal wheels arranged at the bottom of the robot, the two driving wheels are arranged at the left and right sides of the bottom of the mobile chassis (15) of the robot, and the two universal wheels are arranged at the front and back sides of the bottom of the mobile chassis (15).

10. The robot as claimed in any one of claims 4 to 9, wherein the inside meshing gearwheel (401) comprises a plurality of gears arranged one above the other, and the inside meshing gearwheel (401) is arranged radially between the inner race raceway base body (45) and the outer race raceway base body (44).