CN114023000B

CN114023000B - Anti-blocking method for vending machine robot

Info

Publication number: CN114023000B
Application number: CN202111098019.0A
Authority: CN
Inventors: 蔡荔星; 龙枝兵; 黄宇云; 蔡黎宗; 蔡建辉
Original assignee: Hunan Kela Universe Digital Technology Co ltd
Current assignee: Hunan Kela Universe Digital Technology Co ltd
Priority date: 2021-04-16
Filing date: 2021-09-18
Publication date: 2023-10-31
Anticipated expiration: 2041-09-18
Also published as: CN114023000A; CN114022997A

Abstract

The invention provides a vending machine robot anti-blocking method, which comprises the following steps: when the goods are blocked in the goods delivery channel, the blades of different rotary goods channel layers from the first layer to the goods delivery layer from bottom to top move by 0.05-0.5 times of the goods delivery angle along the goods delivery rotation direction and return again through logic control, if the goods delivery detection switch at the bottom of the vending robot detects that the goods delivery is successful, the anti-blocking goods scheme is completed, and if the goods delivery detection switch at the bottom of the robot still does not detect that the goods delivery is successful, the step 1 is implemented once again, or the step 2 is directly carried out; step 2: the vending robot is provided with an elevator type anti-blocking mechanism for applying force to the goods in the vertical direction and physically colliding with the goods so as to dredge the goods falling channel, and after the triggering of the step 1 and the implementation of one or two times, the goods falling channel is not dredged, the step 2 is started. The anti-blocking method for the vending machine robot can completely avoid the conditions of blocking and blocking the vending robot.

Description

Anti-blocking method for vending machine robot

Technical Field

The invention relates to the technical field of self-service vending machines, in particular to a vending machine robot anti-blocking method.

Background

The vending machine is widely used because the vending machine is not limited by time and place, can save manpower, is convenient for transaction and the like. The existing vending machines have various commodity storage mechanisms, and can be generally divided into spiral spring type goods channels, crawler type goods channels, snake-shaped goods channels, vertical goods channels and the like. The spiral spring type goods channel and the crawler type goods channel are goods storage mechanisms which are used for enabling goods to be arranged in a straight line in the horizontal direction, and the goods are sent to a goods outlet one by one through a spiral spring or a crawler driven by a motor. The serpentine goods channel and the vertical goods channel are goods storage mechanisms which enable goods to be in serpentine or linear arrangement in the vertical direction, and enable the goods to fall to a goods outlet one by means of gravity. The commodity storage mechanism is characterized in that commodities are arranged in a single direction, or are arranged in a straight line in the horizontal direction or are arranged in the vertical direction, but the space utilization rate of the arrangement mode is low, so that the storage mechanism is oversized in the horizontal direction or the vertical direction, and is not beneficial to being applied to an autonomous mobile vending robot.

However, most of the existing mobile vending robots adopt spring goods channels, and the mobile vending machines are mainly applied to places with dense people flow such as shopping malls, and the mobile vending machines can stop moving in time when encountering people in logic setting, so that the mobile vending robots have frequent start and stop actions, the start and stop actions of the robots can cause vibration, the gaps between springs and goods channels of the existing spring goods channels are large, and goods are easy to clamp in and cause delivery failure.

Accordingly, there is also a prior art disclosure in vending machines of new storage mechanisms, such as robots with flat layer rotating lanes. 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, a plurality of layers of hollow supporting layers are arranged in the box body at intervals, each layer of supporting layer is provided with a sun-emitting goods pushing component, the goods pushing component comprises a hollow round piece and a plurality of fixed baffles arranged at intervals in the circumferential direction of the hollow round piece, a space for loading goods is arranged between every two baffles, the hollow round piece is driven to rotate by a first motor, and a notch for dropping goods is arranged on one side of the supporting layer; the gaps of all the supporting layers are communicated into 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 shipment mouth sets up in the top in vertical space. The utility model can directly take out objects from the goods outlet without turning plates, and is more convenient. However, this method has obvious drawbacks when used for a mobile vending robot, one is that the vending machine has insufficient storage space and insufficient radial space utilization, the second is that the method of taking goods from the top of the vending machine obviously limits the height dimension of the mobile vending robot, the third is that the goods-out position of the method is too high to influence the layout of the robot screen and the layout of the head, and the fourth is that the lifting and goods-out method requires that the 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 suitable for soft-packed goods.

While the patents CN108205842A, CN108205843A, CN108205847A, CN207704540U, CN207704544U and CN209248649U are all patents related to vending machines filed by the applicant of the innovative technology limited company. CN108205847a discloses a goods storage mechanism and an automatic vending machine provided with the goods storage mechanism, where the goods storage mechanism includes a storage tray and a first driving assembly, the storage tray includes at least one ring of storage rings, the storage rings include a plurality of storage grids independent from each other, each storage grid can be used for storing goods to be sold, and the plurality of storage grids are arranged in a ring shape on the same horizontal plane; the first driving component is used for driving the storage coil to rotate around a shaft; wherein, the bottom of storing check has seted up the first opening that supplies the elevating system of vending machine from bottom to top to pass. Compared with the existing goods storage mechanism, the goods storage mechanism provided by the utility model has the advantages that the space utilization rate is greatly improved, and in the process of delivering goods, the goods can be lifted to a goods outlet at the top of the machine from bottom to top through the goods storage mechanism by being matched with the lifting mechanism of the vending machine. As another example, CN209248649U discloses a vending machine shipment structure and vending machine with goods judging function, the shipment opening is located at the end of the shipment channel of the lifting mechanism of the vending machine, the shipment opening is configured with a sensor assembly for detecting whether the end of the shipment channel has goods, and the vending machine is provided with the shipment opening structure. In the utility model, as the sensor assembly is arranged at the shipment port, whether the shipment is taken away by a customer or not can be perceived through real-time monitoring of the sensor assembly, if the shipment is taken away, the vending machine can perform the next action, and if the shipment is not taken away, the customer can be reminded of taking away the shipment by a certain mode, so that the vending machine can perform the next action. As can be seen from the drawing of this patent and from claim 4, the discharge channels are divided into two groups for leading out the goods of the inner and outer layers of the storage mechanism, respectively. The series of patents effectively uses the radial space of the vending machine, but the vending machine is still being shipped from the top of the vending machine in a manner that greatly limits the height of the vending robot and is thus not adaptable to humanoid mobile vending robots, particularly in terms of the layout of the screen and head thereof. In addition, the shipment hoisting device in this series of patents is chain-like mechanism, and this mechanism can only adapt to cylinder type size goods, and requires the goods to have smooth holding surface, and the shipment mouth still needs to adopt silica gel supporting sleeve, and this mechanism can not adapt to the flexible package product. Furthermore, the device divides two shipment mouths at the radial inlayer at top for the goods of getting of this vending machine is comparatively complicated.

In addition, there is a method of selecting a vending robot with a flat-layer rotary lane to push out goods from inside to outside in the radial direction, and for example, patent CN201821086798 provides a vending mechanism of a cylindrical tower type vending machine. However, in this method, a delivery port is provided for each shelf in the up-down direction, and the vending robot is very complicated in structure and use.

The present inventors have previously developed a vending robot comprising a plurality of rotary lanes arranged up and down, in which an anti-blocking mechanism of an elevator structure is provided. However, the smoothness of the goods falling passage cannot be guaranteed completely in some cases by using the scheme. Therefore, there is a need in the art to develop a new anti-blocking method for vending robots.

Disclosure of Invention

The invention provides an anti-blocking method for a vending robot, which comprises a plurality of layers of rotary goods channels which are arranged above a goods outlet of the robot and are arranged up and down, wherein each rotary goods channel comprises a cylindrical annular goods channel substrate, blades arranged in the rotary goods channel substrate, and gears for driving the blades to rotate, and a plurality of blades are uniformly distributed in the circumferential direction of the goods channel, so that the goods channel substrate is equally divided into a plurality of grids mainly used for storing goods;

The goods way base body comprises a goods way inner side wall, a goods way outer side wall and a goods way bottom plate which is fixed and can not rotate, wherein the goods way inner side wall is fixedly connected with the blades and can rotate along with the blades, and the goods way outer side wall is fixedly connected with the bottom plate and is kept fixed; at least one bottom plate block corresponding to the grids on the bottom plate of the goods channel is provided with a through hole which is convenient for goods to pass downwards or is in an integral vacant state to form a goods outlet of the goods channel, so that the goods can freely fall from the goods outlet of the goods channel to the goods outlet of the robot after being pushed by the rotation of the blades;

the axes of the multiple layers of rotary freight channels are the same, and a plurality of freight channel goods falling openings of the multiple layers of rotary freight channels are aligned in the up-down direction;

the number of the goods way blades in the goods way matrix of each upper layer in the multilayer rotary goods way is not less than the number of the goods way blades in the goods way matrix of the adjacent lower layer;

the method comprises the following steps:

step 1: when the goods are blocked in the goods delivery channel, the logic control enables the blades of different rotary goods channel layers from the first layer to the goods delivery layer to move from bottom to top along the goods delivery rotation direction by 0.05-0.5 times of the goods delivery angle and return again, preferably the blades move by 0.2-0.3 times of the goods delivery angle and return again, if the goods delivery detection switch at the bottom of the vending robot detects that the goods delivery is successful, the anti-blocking goods delivery scheme is completed, and if the goods delivery detection switch at the bottom of the vending robot still does not detect that the goods delivery is successful, the step 1 is implemented once again, or the step 2 is directly entered;

Step 2: the vending robot is provided with an elevator type anti-blocking mechanism comprising a dredging bracket (91) or a dredging claw (63) which can move up and down in the vertical direction, the elevator type anti-blocking mechanism is used for applying force to goods in the vertical direction and physically colliding with the goods so as to dredge a goods falling channel, and after the step 1 is triggered and is implemented for one to two times, the goods falling channel is not dredged yet, and the step 2 is started.

In a specific embodiment, the elevator type anti-blocking mechanism comprises a vertically arranged supporting rod and a dredging claw (63) capable of performing up-and-down reciprocating motion on the supporting rod, wherein the dredging claw (63) can stay right above a goods falling port of a top-layer rotary goods channel and can move up and down to right below the goods falling port of a bottom-layer rotary goods channel.

In a specific embodiment, the goods channel substrate comprises a cylindrical annular inner ring goods channel substrate (45) and a cylindrical annular outer ring goods channel substrate (44) which are arranged on the radial inner and outer coaxial lines, and further comprises inner ring goods channel blades (47) and outer ring goods channel blades (46) which are respectively arranged in the inner ring goods channel substrate and the outer ring goods channel substrate, and an inner meshing large gear (401) which is used for driving the outer ring goods channel blades (46) to rotate, wherein the inner ring goods channel blades (47) are uniformly distributed in the circumferential direction of the inner ring goods channel, so that the inner ring goods channel substrate (45) is uniformly divided into a plurality of grids mainly used for storing goods, and the outer ring goods channel blades (46) are uniformly distributed in the circumferential direction of the outer ring goods channel, so that the outer ring goods channel substrate (44) is uniformly divided into a plurality of grids mainly used for storing goods; the inner ring goods way base body (45) comprises an inner ring goods way inner side wall (451), an inner ring goods way outer side wall (452) and a fixed inner ring goods way bottom plate (453) which can not rotate, the inner ring goods way inner side wall (451) is fixedly connected with the inner ring goods way blades (47) so as to rotate along with the blades, and the inner ring goods way outer side wall (452) is fixedly connected with the bottom plate so as to keep fixed; at least one bottom plate block corresponding to a grid space on the inner ring goods channel bottom plate (453) is provided with a through hole which is convenient for goods to pass downwards or is in an integral vacant state to form an inner ring goods channel goods-falling port (42), so that the goods can freely fall from the inner ring goods channel goods-falling port (42) to a goods outlet (14) of a robot positioned below the rotary goods channel after being pushed by rotation of the blades; the outer lane substrate (44) comprises an outer lane inner side wall (441), an outer lane outer side wall (442) and a fixed and non-rotatable outer lane bottom plate (443), the outer lane inner side wall (441) is fixedly connected with the outer lane blades (46) so as to rotate along with the blades, and the outer lane outer side wall (442) is fixedly connected with the bottom plate so as to be kept fixed; at least one bottom plate block corresponding to the grid space on the outer ring goods channel bottom plate (443) is provided with a through hole which is convenient for goods to pass downwards or is in an integral vacant state to form an outer ring goods channel goods outlet (41), so that the goods can freely fall from the outer ring goods channel goods outlet (41) to the goods outlet (14) of the robot below the rotary goods channel after being pushed by the rotation of the blades.

In a specific embodiment, the elevator type anti-blocking mechanism comprises a blocking and dredging mechanism (6), the blocking and dredging mechanism (6) comprises an outer ring blocking and dredging mechanism (61) and an inner ring blocking and dredging mechanism (62) which are respectively arranged at an outer ring goods channel goods falling port (41) and an inner ring goods channel goods falling port (42), the two blocking and dredging mechanisms comprise a vertically arranged supporting rod and a dredging claw (63) capable of vertically reciprocating on the supporting rod, and the dredging claw (63) can stay right above the outer ring goods channel goods falling port (41) or the inner ring goods channel goods falling port (42) of the top layer rotating goods channel and can move up and down to right below the outer ring goods channel goods falling port (41) or the inner ring goods channel goods falling port (42) of the bottom layer rotating goods channel; the upper limit and the lower limit of the outer ring cargo blocking and dredging mechanism (61) and the inner ring cargo blocking and 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 specific embodiment, the support rod of the outer ring blocking and dredging mechanism (61) is arranged at the radial outer side of the outer ring goods channel goods falling opening (41), and the support rod of the inner ring blocking and dredging mechanism (62) is arranged at the radial outer side of the inner ring goods channel goods falling opening (42) and is arranged at the radial inner side of the inner meshing large gear (401).

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

In a specific embodiment, when the robot receives a command and needs to deliver goods, the position of the blade on the corresponding rotary goods channel is reset, then the outer ring driving motor (71) or the inner ring driving motor (72) of the corresponding layer is controlled to start to drive the blade to start rotating, and when the reflective photoelectric sensor detects a signal that the blade reaches the corresponding position, the motor stops, and whether goods exist at the goods delivery port or not is detected by the opposite-type photoelectric sensor; if the goods at the goods outlet are not available, namely the goods outlet channel is blocked, the step 1 and the step 2 are controlled to be carried out successively, or the dredging of the blocked goods is finished only by carrying out the step 1.

In a specific embodiment, when the shipment channel is blocked, the logic control causes the blades of different rotating lane layers from the first layer to the shipment layer to all move simultaneously or sequentially in the shipment rotation direction.

In a specific embodiment, the vending robot is provided with an elevator type anti-blocking mechanism for the outer lane and an elevator type anti-blocking mechanism for the inner lane.

The invention firstly provides the free-falling type goods-discharging robot with the flat-layer rotary goods channel, the mode can be suitable for flexible package products, the adaptability of goods is greatly enriched, and meanwhile, the conflict between a goods-discharging port and a screen position is solved.

The beneficial effects are that: in the prior art, the vending robot with the multilayer flat layer rotary goods channel is used for top goods delivery or flat goods delivery, and the vending robot adopts free falling 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 goods channel and the inner ring goods channel, so that the robot is sufficient in goods storage space and more convenient to use in the mobile vending robot. The vending robot is not only suitable for hard packaged goods, but also suitable for soft packaged goods. In addition, the arrangement of the goods falling port and the goods supplementing channel in the invention makes the goods delivery and the goods supplementing of the rotary goods channel in the invention very convenient.

The anti-blocking method for the vending machine robot comprises the following two steps, wherein the blades continue to run for a certain angle along a goods channel and return, namely, the blades shake back and forth, and then the elevator type anti-blocking mechanism dredges the blocked goods in the vertical direction. The method can completely avoid the conditions of goods blocking and blockage in the vending robot.

Drawings

Fig. 1 is a schematic diagram of the outline structure of the intelligent vending robot according to the present invention.

Fig. 2 is a schematic diagram 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 angle of the intelligent vending robot according to the present invention.

FIG. 4 is a schematic diagram showing the connection of the outer lane driving gear and the frame base according to the present invention.

Fig. 5 is a schematic diagram of the connection of the blocking dredging mechanism and motor to the framework base.

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

Fig. 7 is a perspective view of the structure shown in fig. 4 to 6.

Fig. 8 is a schematic view of the structure and installation position of a multi-layer rotary goods way 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 layer of a rotary aisle.

FIG. 11 is a schematic perspective view of a layer of a rotary aisle.

FIG. 12 is a schematic view of the connection of outer lane lobes of a layer of rotating lanes to an inner intermeshing gear wheel.

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

Fig. 14 is a schematic perspective view of an inner ring structure of a layer of rotary cargo lane.

Fig. 15 is a shipment control flow chart of the robot according to the present invention.

Fig. 16 is a flow chart of the replenishment control of the robot according to the present invention.

Fig. 17 is an internal configuration diagram of the vending robot including the loading device.

Fig. 18 is another internal structure view of the vending robot including the loading device, and fig. 18 is a schematic view taken along A-A of fig. 17.

Fig. 19 is a top view of a support structure for supporting a multi-layered rotary lane of a vending robot including a loading device.

FIG. 20 is a schematic cross-sectional view A-A of FIG. 19.

Fig. 21 is a bottom view of the support structure corresponding to fig. 19 and 20.

Fig. 22 is a top view of the uppermost rotating lane of the vending robot including the loading device.

FIG. 23 is a schematic cross-sectional view A-A of FIG. 22.

Fig. 24 is a schematic view of the vending robot shown in fig. 17 to 18, showing the height of each layer and the blade of each layer.

Fig. 25 is a perspective view of an elevator anti-blocking mechanism according to the present invention.

In fig. 1 to 16: head 11, arm 12, front screen 13, outlet 14, mobile chassis 15; the falling goods detection and picking layer 2, the robot main body framework 3, the rotary goods channel 4, the outer-ring goods channel driving gear 5, the first-layer outer-ring goods channel driving gear 51, the second-layer outer-ring goods channel driving gear 52, the third-layer outer-ring goods channel driving gear 53, the fourth-layer outer-ring goods channel driving gear 54, the fifth-layer outer-ring goods channel driving gear 55, the framework base 31, the bottom supporting plate 32, the outer-ring goods channel falling goods port 41, the inner-ring goods channel falling goods port 42, the goods blocking and dredging mechanism 6, the outer-ring goods blocking and dredging mechanism 61, the inner-ring goods blocking and dredging mechanism 62, the dredging claw 63, the motor 7, the outer-ring driving motor 71, the multi-layer goods channel 43, the first-layer goods channel 431, the second-layer goods channel 432, the third-layer goods channel 433 fourth layer lane 434, fifth layer lane 435, outer lane base 44, inner lane base 45, outer lane blades 46, inner lane blades 47, outer lane inner side wall 441, outer lane outer side wall 442, outer lane bottom plate 443, inner lane inner side wall 451, inner lane outer side wall 452, inner lane bottom plate 453, inner lane drive motor 72, first layer inner lane drive motor 721, second layer inner lane drive motor 722, third layer inner lane drive motor 723, fourth layer inner lane drive motor 724, fifth layer inner lane drive motor 725, outer lane restocking channel 48, inner lane restocking channel 49, inner engagement gearwheel 401, roller 402, transfer bar 403.

Detailed Description

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present invention.

As shown in fig. 1 to 14, the present invention firstly provides a rotary lane, comprising a cylindrical annular inner lane base (45) and a cylindrical annular outer lane base (44) which are arranged radially and internally and externally on the same axis, an inner lane blade (47) and an outer lane blade (46) which are respectively arranged therein, and an inner meshing large gear (401) for driving the outer lane blade (46) to rotate, wherein a plurality of inner lane blades (47) are uniformly distributed in the circumferential direction of the inner lane, so that the inner lane base (45) is uniformly divided into a plurality of lattices mainly used for storing articles, and a plurality of outer lane blades (46) are uniformly distributed in the circumferential direction of the outer lane, so that the outer lane base (44) is uniformly divided into a plurality of lattices mainly used for storing articles; the inner ring goods way base body (45) comprises an inner ring goods way inner side wall (451), an inner ring goods way outer side wall (452) and a fixed inner ring goods way bottom plate (453) which can not rotate, the inner ring goods way inner side wall (451) is fixedly connected with the inner ring goods way blades (47) so as to rotate along with the blades, and the inner ring goods way outer side wall (452) is arranged so as to rotate along with the blades or is fixedly connected with the bottom plate so as to keep fixed; at least one bottom plate block corresponding to a grid space on the inner ring goods channel bottom plate (453) is provided with a through hole which is convenient for goods to pass downwards or is in an integral vacant state to form an inner ring goods channel goods-falling port (42), so that the goods can freely fall from the inner ring goods channel goods-falling port (42) to a goods outlet (14) of a robot positioned below the rotary goods channel after being pushed by rotation of the blades; at least one through hole which is convenient for the goods to pass horizontally or is in an integral vacant state is arranged at the corresponding position between at least one grid on the outer side wall (452) of the inner ring goods channel, so as to form an inner ring goods supplementing channel (49); the outer lane substrate (44) comprises an outer lane inner side wall (441), an outer lane outer side wall (442) and a fixed and non-rotatable outer lane bottom plate (443), the outer lane inner side wall (441) is fixedly connected with the outer lane blades (46) and can rotate along with the blades, and the outer lane outer side wall (442) is arranged to rotate along with the blades or is fixedly connected with the bottom plate and thus keeps fixed; at least one bottom plate block corresponding to the grid space on the outer ring goods channel bottom plate (443) is provided with a through hole which is convenient for goods to pass downwards or is in an integral vacant state to form an outer ring goods channel goods outlet (41), so that the goods can freely fall from the outer ring goods channel goods outlet (41) to a goods outlet (14) of a robot positioned below the rotary goods channel after being pushed by rotation of the blades; at least one inner side wall and one outer side wall corresponding to the same grid are arranged on the inner side wall (441) and the outer side wall (442) of the outer ring goods channel, and through holes which are convenient for goods to pass horizontally or are in an integral vacant state are formed on the inner side wall and the outer side wall of the outer ring goods channel, so that an outer ring goods supplementing channel (48) is formed; the inner ring goods channel goods falling opening (42) and the outer ring goods channel goods falling opening (41) are arranged at corresponding positions or non-corresponding positions in the radial direction of the rotary goods channel; and when the outer side wall (452) of the inner ring goods channel and the outer side wall (442) of the outer ring goods channel are arranged to be unable to rotate, the inner ring goods supplementing channel (49) and the outer ring goods supplementing channel (48) are arranged at the corresponding positions in the radial direction of the rotary goods channel, so that goods in the inner ring goods channel are fed into the inner ring goods channel through the outer ring goods supplementing channel (48) and the inner ring goods supplementing channel (49) in sequence.

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

In one specific embodiment, the inner race track outer side wall (452) is fixedly connected to the inner race track bottom plate (453) and thus remains stationary, and the outer race track outer side wall (442) is fixedly connected to the outer race track bottom plate (443) and thus remains stationary; at least one bottom plate block corresponding to each grid of the inner ring goods way bottom plate (453) is set to be in an integral vacant state, and at least one bottom plate block corresponding to each grid of the outer ring goods way bottom plate (443) is set to be in an integral vacant state; the inner ring goods channel goods falling opening (42) and the outer ring goods channel goods falling opening (41) are arranged at positions which are not corresponding to each other in the radial direction of the rotary goods channel.

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

In a specific embodiment, the intelligent vending robot comprises a plurality of layers of rotary 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 dimensions of the inner ring channel substrates (45) of the multi-layer rotating channels arranged up and down are consistent, the radial dimensions of the outer ring channel substrates (44) are consistent, the axial lines of the multi-layer rotating channels are the same, the inner ring channel dropping ports (42) of the multi-layer rotating channels are aligned in the up-down direction, and the outer ring channel dropping ports (41) of the multi-layer rotating channels are also aligned in the up-down direction.

In a specific embodiment, the plurality of inner race track bases (45) and the plurality of outer race track bases (44) of the multilayer rotary track are the same in height.

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 the mobile 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 mobile chassis (15).

In a specific embodiment, the ring gear (401) includes a plurality of ring gears disposed one above the other, and the ring gears (401) are disposed between the inner race track base (45) and the outer race track base (44) in the radial direction.

In a specific embodiment, the number of inner ring lane blades (47) in the inner ring lane matrix (45) of each layer in the multi-layer rotary lane is different, so that the sizes of a plurality of inner ring lane goods falling openings (42) of each layer from bottom to top are sequentially reduced; and/or the number of outer lane blades (46) in the outer lane matrix (44) of each of the multiple layers of rotary lanes is different, such that the sizes of the plurality of outer lane drop ports (41) of each layer sequentially decrease from bottom to top.

The invention also provides a robot comprising the storage device which is convenient for free falling type shipment.

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

The goods storage device arranged in this way can adapt to the goods with small and light size placed on the upper layer, and the goods with larger size and larger weight are placed on the lower layer. The more up the rotary goods channel is, the more grids can be equally separated by the blades, and the goods falling port is gradually reduced from bottom to top, so that the goods falling on the upper layer cannot be influenced, and meanwhile, the goods containing quantity is greatly improved.

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

the inner ring goods supplementing channel (49) and the inner ring goods channel goods falling opening (42) are arranged between adjacent grids, so that inner ring goods channel blades (47) of the same layer can forward rotate to deliver goods and reverse rotate to supplement goods or reverse rotate under the drive of the same inner ring driving motor (72); the outer ring goods supplementing channel (48) and the outer ring goods channel goods falling opening (41) are arranged between adjacent grids, so that outer ring goods channel blades (46) of the same layer can be driven by the same outer ring driving motor (71) to forward rotate for goods delivery and reverse rotation for goods supplementing, or vice versa.

In a specific embodiment, the inner ring replenishment passage (49) and the outer ring replenishment passage (48) are disposed at positions corresponding to each other in the radial direction of the rotary lane so that they form a linear replenishment passage together, and the outer ring lane cargo discharging port (41) and the inner ring lane cargo discharging port (42) are disposed upstream and downstream of the linear replenishment passage, respectively, in the same rotational direction of the rotary lane, so that the outer ring lane cargo discharging port (41), the linear replenishment passage and the inner ring lane cargo discharging port (42) are disposed adjacent to each other in the circumferential direction of the rotary lane.

The invention also provides a robot, comprising the storage device of the intelligent vending machine.

The invention also provides a goods storage device capable of preventing goods from blocking, the goods storage device comprises a multilayer rotary goods channel which is arranged above a goods outlet (14) of the intelligent vending robot and is vertically arranged, the structure of the rotary goods channel is as described above, the goods storage device capable of preventing goods from blocking 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 an outer ring goods channel goods outlet (41) and an inner ring goods channel goods outlet (42), the two goods blocking and dredging mechanisms comprise vertically arranged support rods and dredging claws (63) capable of performing up-down reciprocating motion on the support rods, and the dredging claws (63) can stay right above the outer ring goods channel goods outlet (41) or the inner ring goods channel goods outlet (42) of the top layer rotary goods channel and can move up and down to the position right below the outer ring goods channel goods outlet (41) or the inner ring goods channel goods outlet (42) of the bottom layer rotary goods channel.

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

The invention also provides a goods storage device for the vending robot, the goods storage device comprises a plurality of layers of rotating goods channels which are arranged above the goods outlet (14) of the vending robot and are vertically arranged, the structures of the rotating goods channels are as described above, the radial sizes of a plurality of inner ring goods channel matrixes (45) of the vertically arranged multilayer rotating goods channels are consistent, the radial sizes of a plurality of outer ring goods channel matrixes (44) are consistent, the axial lines of the multilayer rotating goods channels are the same, a plurality of inner ring goods channel goods outlet (42) of the multilayer rotating goods channels are aligned in the vertical direction, and a plurality of outer ring goods channel goods outlet (41) of the multilayer rotating goods channels are also aligned in the vertical direction; the goods storage device further comprises an inner ring driving motor (72) arranged on the inner side wall (451) of the inner ring goods channel in the radial direction and an outer ring driving motor (71) arranged below the multilayer rotating goods channel, wherein the plurality of outer ring driving motors (71) corresponding to the multilayer rotating goods channel are respectively connected with the 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 rotating goods channel, so that all outer ring goods channel blades (46) are respectively driven to rotate.

In a specific embodiment, the outer race track driving gear (5), the inner meshing gearwheel (401) and the transmission rod (403) are arranged between the inner race track inner side wall (441) and the outer race track outer side wall (452) in the radial direction; in the height direction, the outer ring goods way driving gear (5) and the inner meshing large gear (401) of different layers of rotary goods ways are arranged at different height positions, and are arranged corresponding to each layer of rotary goods way, and accordingly, the heights of the plurality of transmission rods (403) are different.

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

In a specific embodiment, the radial inner side of the inner ring goods way inner side wall (451) of each layer of rotary goods way is provided with an inner meshing gear set driven by an inner ring driving motor (72), and each inner ring goods way is provided with an independent inner ring driving motor (72) for driving the inner ring goods way blades (47) to rotate through the inner meshing 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 delivery port (14) arranged below the automatic vending robot and a plurality of layers of rotary goods channels which are arranged above the delivery port (14) and are arranged up and down, wherein the automatic vending robot further comprises an opposite-emission type photoelectric sensor and a reflective photoelectric sensor, the opposite-emission type photoelectric sensor is arranged above the delivery port (14) and used for detecting whether delivery is successful, the reflective photoelectric sensor is arranged on an inner ring goods channel and an outer ring goods channel of each layer of rotary goods channel, and reflection pieces are arranged on each outer ring goods channel blade (46) and each inner ring goods channel blade (47) and used for controlling stopping of an outer ring driving motor (71) or an inner ring driving motor (72).

In a specific embodiment, the automatic vending robot further comprises a blocking and dredging mechanism (6), the blocking and dredging mechanism (6) comprises an outer ring blocking and dredging mechanism (61) and an inner ring blocking and dredging mechanism (62) which are respectively arranged at an outer ring goods channel goods falling port (41) and an inner ring goods channel goods falling port (42), the two blocking and dredging mechanisms comprise a vertically arranged supporting rod and a dredging claw (63) capable of performing up-and-down reciprocating motion on the supporting rod, and the dredging claw (63) can stay right above the outer ring goods channel goods falling port (41) or the inner ring goods channel goods falling port (42) of the top layer rotating goods channel and can move up and down to right below the outer ring goods channel goods falling port (41) or the inner ring goods channel goods falling port (42) of the bottom layer rotating goods channel; the upper limit and the lower limit of the outer ring cargo blocking and dredging mechanism (61) and the inner ring cargo blocking and 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 specific embodiment, the vending robot is an autonomous mobile intelligent vending robot.

The invention also provides a control method of the automatic vending robot, which comprises the following steps: when the robot receives an instruction and needs to deliver goods, the position of the blade on the corresponding rotary goods channel is reset, then the outer ring driving motor (71) or the inner ring driving motor (72) of the corresponding layer is controlled to start to drive the blade to start rotating, 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 delivery port or not is detected through the opposite-emission photoelectric sensor; if the goods outlet has no goods, the step 1 and the step 2 are conducted to dredge the goods outlet, and successful goods outlet is ensured.

The invention also provides a control method of the automatic vending robot, which comprises the following steps: after receiving the replenishment instruction, the robot resets the positions of the blades on the corresponding rotary cargo channel, and then controls the outer ring driving motor (71) or the inner ring driving motor (72) of the corresponding layer to start so as to drive the blades to start rotating; when the reflective photoelectric sensor detects the signal that the blade reaches the corresponding position, the motor is stopped.

Fig. 1 is a schematic diagram of the outline structure of the intelligent vending robot according to the present invention. From the appearance, the robot includes: head 11, arm 12, and the fuselage including front screen 13 and delivery port 14, and mobile chassis 15. The robot is provided with a front door and a rear door which can be opened, a rotary goods way device is visible after the rear door is opened, and the rotary goods way device is connected with a robot main body framework 3 through bolts.

Fig. 2 is a schematic diagram of an internal structure of the intelligent vending robot according to the present invention. As can be seen from fig. 2, the robot comprises five layers of rotating lanes arranged up and down, and each layer of rotating lane can be disassembled independently, so that the robot is convenient to maintain and replace.

As can be seen from fig. 1 to 14, in the mobile vending robot provided by the present invention, each article has an independent compartment, and does not interfere with each other. The range of goods which can be adapted among each grid is more, and the flexible packaging type goods can be adapted. The inner ring goods channel and the outer ring goods channel of each layer can independently control goods delivery, and products with various specifications and products can be conveniently arranged. In this embodiment, five layers of goods channels are shared, five layers of inner rings share one inner ring goods channel goods-falling opening 42, five layers of outer rings share one outer ring goods channel goods-falling opening 41, and the overall goods storage space utilization rate is high. In the present invention, the size of each individual cell between the upper and lower layers is preferably different, preferably the size of each individual cell from top to bottom is larger, and the size of each cell between the inner ring and the outer ring may be set to be different. The lattices of the inner ring of the same layer are preferably uniform in size, and the lattices of the outer ring of the same layer are also preferably uniform in size. By the arrangement, the robot can sell goods with rich sizes.

In the invention, each layer is provided with an inner ring goods channel and an outer ring goods channel which are independently controlled. The outer lane blades rotate to push all the goods in the outer lane to move, the inner lane blades rotate to push all the goods in the inner lane to move, in general, the same goods are placed in the inner lane in the same layer, the same goods are placed in the outer lane in the same layer, but the goods in the inner lane and the outer lane can be different. The blade spacing of each layer from bottom to top can be gradually reduced so as to adapt to the situation that the upper layer is used for placing the goods with small size and light weight, and the lower layer is used for placing the goods with slightly larger size and slightly larger weight. The rotary goods way adopts a modularized mechanism, can be overlapped up and down, can be matched freely, has high universality of parts, and effectively reduces the manufacturing cost.

The invention is suitable for the diversity of goods package by pushing goods by the rotating blades and discharging goods by free falling. The invention is matched with the anti-blocking mechanism of the goods channel similar to an elevator, and effectively ensures the success rate of goods delivery. The inner ring and the outer ring of each inner ring of the rotary goods channel can be independently controlled, so that the number of goods channels of goods is effectively increased, and the goods capable of being placed are increased. The rotating goods channel is more towards the upper layer, more grids can be equally separated by the blades, and the goods falling port is gradually reduced from the lower layer to the upper layer, so that the free falling movement of the goods on the upper layer is not influenced, and meanwhile, the goods containing quantity is greatly improved. The outer lane shown in fig. 11 adopts a thirteen-divided sector-shaped inter-grid structure. The robot has the goods supplementing channel on each layer of goods channel, and the goods supplementing channel penetrates through the outer ring goods channel and the inner ring goods channel. Thus, the restocking passages of each tier include an outer lane restocking passage 48 and an inner lane restocking passage 49. Specifically, the outer race replenishment passage 48 is provided such that both of the radially inner and outer opposite side walls thereof are provided with a through-hole structure between the cells, preferably both of the radially inner and outer opposite side walls thereof are in a missing state, and the inner race replenishment passage 49 is provided such that the radially outer side wall thereof is provided with a through-hole structure between the cells, preferably the radially outer side wall thereof is provided with a missing state.

As shown in fig. 11, each layer of outer lane substrate 44 includes at least an outer lane inner sidewall 441, an outer lane outer sidewall 442 and an outer lane bottom plate 443, wherein the outer lane bottom plate 443 does not rotate with the outer lane blades 46, the outer lane inner sidewall 441 is fixedly connected to the outer lane blades 46 and thus rotates with the blades, and the outer lane outer sidewall 442 may be configured to rotate with the blades or remain stationary as the bottom plate, preferably the outer lane outer sidewall 442 is configured to remain stationary. At least one bottom plate block corresponding to the grids on the outer ring cargo channel bottom plate 443 is in an integral vacancy state, and an outer ring cargo channel cargo discharging port 41 is formed, so that the cargo is freely dropped from the outer ring cargo channel cargo discharging port 41 to the cargo discharging port 14 of the robot after the rotation pushing of the blades. The inner side wall 441 and the outer side wall 442 of the outer lane have at least one corresponding inner side wall and outer side wall between lattices, which are in a whole empty state, so as to form the outer lane cargo filling channel 48. The outer ring driving motor 71 drives the blades to rotate, forward shipment and reverse shipment, or vice versa, and before the blades rotate for shipment, the shipment is fed into the outer ring shipment channel and the inner ring shipment channel at the outer ring shipment channel 48.

Likewise, each layer of the inner lane substrate 45 includes at least an inner lane inner side wall 451, an inner lane outer side wall 452 and an inner lane bottom plate 453, wherein the inner lane bottom plate 453 does not rotate with the inner lane blades 47, the inner lane inner side wall 451 is fixedly connected with the inner lane blades 47 and thus rotates with the blades, while the inner lane outer side wall 452 may be configured to rotate with the blades or to remain stationary as the bottom plate, preferably the inner lane outer side wall 452 is configured to remain stationary. At least one bottom plate block corresponding to each grid space on the inner ring goods channel bottom plate 453 is in an integral vacancy state, and an inner ring goods channel goods-falling port 42 is formed, so that goods can fall from the inner ring goods channel goods-falling port 42 to the goods outlet 14 of the robot after being pushed by rotation of the blades. At least one lattice corresponding position on the outer side wall 452 of the inner ring cargo path is in an integral empty state, so as to form an inner ring cargo supplementing channel 49. The inner race drive motor 72 drives the rotation of the vanes, forward shipment and reverse restocking, or vice versa, and the restocking is carried into the inner race lane at the inner race restocking channel 49 before the vane is rotated to restock.

When the outer side wall 442 and the inner side wall 452 are both configured to rotate with the blades, the outer side replenishment passage 48 and the inner side replenishment passage 49 are both rotated to replenish the articles in the apparatus when the outer side passage and the inner side passage are located between different lattices with respect to the outer side passage and the inner side passage, respectively, and the lattices corresponding to the outer side replenishment passage 48 and the inner side passage 49 are provided with bottom plates.

When the outer side wall 442 and the inner side wall 452 of the outer lane are not rotated together with the blades, the outer lane replenishment passage 48 and the inner lane replenishment passage 49 are disposed between different lattices, preferably between adjacent lattices, together with the outer lane loading opening 41 and the inner lane loading opening 42, so that the inner lane of the same layer is driven by the same motor to forward rotate for loading and reverse rotate for replenishment, or vice versa; the outer ring goods channel of one layer is driven by the same motor to forward rotate and reverse rotate for goods delivery or reverse rotation for goods supplement.

As shown in fig. 11, each layer of lane is provided with a replenishment lane, which penetrates the outer lane and the inner lane.

As shown in fig. 15, the outer ring cargo blocking and dredging mechanism 61 and the inner ring cargo blocking and dredging mechanism 62 are respectively disposed beside the outer ring cargo channel cargo discharging opening 41 and the inner ring cargo channel cargo discharging opening 42, and the outer ring cargo blocking and dredging mechanism 61 is disposed radially outside the outer ring cargo channel cargo discharging opening 41, the inner ring cargo blocking and dredging mechanism 62 is disposed radially outside the inner ring cargo channel cargo discharging opening 42, and the inner ring cargo blocking and dredging mechanism 62 is disposed radially inside the inner gear wheel 401.

The bottom supporting plate is arranged below the multilayer rotary goods channel, and two elevator lifting mechanisms, namely an outer ring goods blocking and dredging mechanism 61 and an inner ring goods blocking and dredging mechanism 62, are fixedly arranged on the bottom supporting plate; the dredging claw 63 is usually stopped at the uppermost part, i.e. above the goods falling port of the highest layer of rotary goods channel, when the goods outlet fails, the step 1 is used for trying to dredge the blocked goods, if the dredging claw 63 fails to dredge the goods, the step 2 is implemented, i.e. the dredging claw 63 moves downwards to the goods falling port of the lowest layer of rotary goods channel and returns to the top position for dredging the blocked goods.

The outer race and the inner race of the same layer of lane are driven by an outer race drive motor 71 and an inner race drive motor 72, respectively, as shown, the outer race drive motor 71 includes five motors for five layers of lanes, and the inner race drive motor 72 also includes five motors for five layers of lanes. Specifically, the outer ring driving motors 71 are all disposed on the lower surface of the bottom support plate below the bottommost layer of rotary lane, and the inner ring driving motors 72 are all disposed at the radial center position of the inner ring lane of each layer of lanes.

As shown in fig. 5, in this embodiment, 5 layers of rotary goods lanes are provided, five outer ring driving motors 71 of the outer ring 5 layers are all fixed on the bottom support plate, and the outer ring driving motors 71 drive the five outer ring goods lane driving gears 5 and the inner engaged large gear 401 of each layer through a vertically arranged transmission rod 403 to drive the outer ring goods lane blades 46 of each layer to rotate, push goods out or reverse replenishment. The outer lane driving gear 5, the inner meshing large gear 401 and the transmission rod 403 for driving the blades in the outer lane are all arranged between the inner lane side wall 441 and the outer lane side wall 452 of the outer lane in the radial direction, while the outer lane driving gear 5 and the inner meshing large gear 401 of different lanes are all arranged at different height positions in the height direction, and are both arranged corresponding to each lane; accordingly, the height of the driving rod 403 for driving each outer race lane is also different.

As shown in fig. 15, the outer race track blades 46 of each layer are fixedly connected with the inner meshing large gear 401 of the layer through screws, and are guided by rollers 402 to rotate at a low speed in a groove-shaped structure on the track.

The radial center of each layer of inner ring goods channel is provided with a motor-driven inner meshing gear set, each layer is provided with an independent driving motor, and the inner ring is provided with an independent and fixed-position goods falling port.

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

The space separated by the movable vane is used for placing goods, which is called as a compartment in the invention, but the bottom plate and the side wall between the compartments are in fact in relative movement trend during shipment and replenishment. In this embodiment, as shown in fig. 11, the outer ring of each layer of the goods channel is divided into 13 equal divisions, one of the goods supplementing channels is empty, one of the goods dropping channels does not put goods, and 11 goods are put on the outer ring in total. The inner ring of each layer of goods channel is divided into 8 equal divisions, one of the goods supplementing channels is empty, the goods are not placed in one goods dropping channel, and 6 goods are placed in the inner ring. Thus, a total of 17 items may be placed per layer. As shown in fig. 2, the rotary lane of the present embodiment has a total of 5 layers, and a maximum of 85 articles can be placed. In addition, the size and the number of the goods can be adjusted and adapted only by reasonably adjusting the number of the inner ring and the outer ring equal divisions. That is, the number of the rotating blades of the inner ring and the outer ring of each layer of the rotating lane in each cylindrical rotating shelf can be freely set in the present invention.

In the present invention, the shipment mode of the rotary lane includes: the customer sweeps a yard to select goods, pays, pushes goods to a goods falling port by a motor driving blade of a goods channel where the goods are located, drops the goods to a goods outlet, drops the goods from the goods outlet to the goods outlet, opens an electromagnetic lock of the goods outlet and takes the goods from the customer.

In the invention, the goods supplementing mode of the rotary goods channel comprises the following steps: the vertical side wall of each inner ring and outer ring goods channel is provided with a goods supplementing opening, the outer ring goods supplementing opening is communicated with the inner ring goods supplementing opening, and the inner ring goods supplementing can be directly carried out through the outer ring goods supplementing opening. And the motor drives the blades to reversely rotate to supplement goods, namely, the rotation directions of the goods discharging and supplementing blades are opposite.

The mobile intelligent vending robot can further comprise a man-machine interaction panel, an inductive switch, a laser radar, a binocular camera, an ultrasonic sensor, an infrared sensor, a driving wheel motor, a universal wheel and a lithium battery, and the parts are connected to the central controller through wires. The ultrasonic sensor is installed around the robot shell and the infrared sensor is installed obliquely downwards. The robot shell is further provided with a thermal imaging camera, the thermal imaging camera is connected with the central controller through a wire, and the thermal imaging camera is used for detecting the crowded density. The man-machine interaction panel is used for displaying payment two-dimensional codes and custom advertising. The robot is characterized in that a voice module is installed in the robot shell and connected with the central controller through a wire, and the voice module is used for realizing voice interaction between the robot and a person.

Preferably, a voltage detector is arranged in the robot, the voltage detector is arranged on a wire 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, the vibrations inductor is used for gathering data and sending out the alarm when the robot takes place to shake, and the robot can take place to shake when the circumstances such as steal or being violently bumped.

In addition, aiming at the single operation function of the vending robot in the prior art, the vending robot lacks user interaction and is not advanced with time; or the problem that the wrong commodity is purchased due to easy misplacement of manual operation, and the invention also provides an intelligent vending robot capable of realizing voice interaction. The goods can not be processed when the goods of the vending robot in the prior art are abnormally dropped; or the user misoperations, the payment forgets to take the goods, and the problem that the goods are taken by the later purchased user is caused.

Specifically, the robot is provided with a voice interaction function, so that a user can chat with a vending machine, select goods, search weather, search routes and the like, and the robot is quite simple in operation and powerful in function. The invention sets up the correlation photoelectric sensor at the goods outlet of the goods, is used for detecting the normal dropping of the goods; and a movable baffle device is arranged below the commodity outlet and is used for recycling commodities. And when the goods are delivered by mistake or not taken by a user after the goods are delivered, automatically recycling the goods.

The commodity shipment logic of the invention is as follows: the system defaults to an idle mode, and after recognizing a voice keyword or triggering a key signal, the system enters a user interaction mode. In the interaction mode, the user can conduct voice communication with the machine, and related contents can be related to commodity purchase, or can be ordinary chat, weather inquiry, line inquiry and other functions. After the user selects the commodity, the user needs to pay by scanning the code, and then the system enters a shipment state. In the shipment state, the system controls the shipment motor to rotate for one circle, then detects the opposite-emission photoelectric sensor of the shipment port, and judges whether shipment is successful or not.

The commodity recycling logic of the invention is as follows: after the correlation photoelectric sensor of the goods outlet detects that goods fall off, two conditions are treated: first, the system judges that the commodity after the user normally purchases falls, if the commodity falls due to factors such as machine shaking, the system judges that the commodity falls abnormally, and the recovery partition plate is opened to automatically recover the commodity. Second, the system determines that the commodity after the user normally purchases falls down, and after a period of time (for example, 2 minutes), the commodity is not taken out, and determines that the user forgets to take the commodity, and opens the recovery partition plate to automatically recover the commodity.

Under normal conditions, when the goods are stirred by the blades and move to the goods falling port, the goods can directly fall to the goods outlet.

And a correlation photoelectric sensor is arranged above the shipment port and used for detecting whether shipment is successful.

The correlation type photoelectric sensor is also called a correlation type photoelectric sensor. The transmitting 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 light, a signal is output. The four fingers of the correlation photoelectric sensor are electric wires, and the emitting end of the correlation photoelectric sensor is only connected with a brown wire and a blue wire, wherein the brown wire is connected with the anode, and the blue wire is connected with the cathode. The receiving end is connected with black lines, namely signal output lines, besides the brown and blue lines. The correlation photoelectric sensor can be directly obtained in a commercial way.

If the goods are blocked at the delivery port, the blades in the step 1 continue to move forwards for a certain angle and then return to the corresponding angle to dredge the blocked goods, and if the step 1 is carried out for one time to two times and still fails to dredge, the step 2 is carried out, namely, the motor is used for driving the blocked goods dredging mechanism 6 to dredge the delivery port, and the upper limit and the lower limit of the blocked goods dredging mechanism 6 are respectively provided with a reflective photoelectric sensor 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 reflective sheet is arranged on each outer lane blade 46 and each inner lane blade 47, each time the blades move a distance between grids, the reflective photoelectric sensors detect signals, and the outer lane driving motor 71 or the inner lane driving motor 72 stops rotating.

The reflective photoelectric sensor is a photoelectric sensor which is formed by arranging a transmitter and a receiver in the same device, arranging a reflecting plate in front of the transmitter and the receiver, and utilizing the reflection principle to complete photoelectric control. The method can be used for detecting the change of the brightness and the color of the ground and detecting whether an approaching object exists or not. The reflective photoelectric sensor is provided with a light source and a light receiving device, light emitted by the light source is received by the photosensitive element after being reflected by an object to be detected, and needed information is obtained through processing of a related circuit. The reflective photoelectric sensor is not influenced by the shape, color and material of the detected object; and compared with the opposite-type photoelectric sensor, the reflective photoelectric sensor saves the installation and use space. The reflective photosensor is commercially available directly.

Each layer of lane has independent buttons on its periphery for use in restocking, and the outer lane drive motor 71 or the inner lane drive motor 72 is reversed for restocking. There is also a unified replenishment button which uniformly rotates a certain angle among a plurality of lattices of the upper and lower layers and then supplements the 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 multiple, the specific layer number can be dynamically adjusted), each layer of goods channel comprises an inner ring and an outer ring which are independently controlled, and different goods can be loaded. And each inner ring goods channel and each outer ring goods channel are internally provided with evenly distributed blades for separating goods and pushing the goods to do rotary motion along the bottom plate. And each inner ring goods channel and each outer ring goods channel are provided with a non-bottom area, namely a goods falling port, and when goods are pushed to the area, the goods can fall freely to realize goods discharge. In the drop port area, there is a dredging claw 63 movable up and down like an elevator car for dredging the drop port and the delivery port. Each of the inner race course and the outer race course has reflective photosensors at its edges, which can be used to detect the position of the blades as they pass thereby controlling the start and stop of the outer race drive motor 71 and the inner race drive motor 72. And the opposite-emission type photoelectric sensor is arranged at the goods outlet and used for detecting whether goods are smoothly discharged.

As shown in fig. 15, the shipment control flow of the present invention is as follows: when the machine receives a command and needs to be delivered, the position of the blade on the corresponding delivery 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 start rotating. When the signals that the blades reach the corresponding positions are detected, the motor is stopped, and whether the commodity exists at the commodity outlet is detected through the correlation photoelectric sensor. If the goods outlet does not have goods, the blades on the corresponding goods channels are controlled to move forwards and backwards, the blades swing by a certain angle so as to dredge the goods, and if the goods are still not dredged, the elevator-shaped vertical movement blocking and dredging mechanism 6 is started to dredge the goods outlet and the goods outlet, so that successful goods outlet is ensured.

As shown in fig. 16, the replenishment control flow of the present invention is as follows: when the machine receives the replenishment instructions, the positions of the blades on the corresponding cargo lanes are reset, and then the outer ring driving motor 71 or the inner ring driving motor 72 is controlled to start to drive the blades to start rotating. When a signal that the blade reaches the corresponding position is detected, the motor is stopped.

The goods loading device of the vending robot and the vending robot solve the problem of low goods loading efficiency of the rotary goods channel, and each layer of the rotary goods channel is independently controlled, so that the goods loading device and the vending robot can adapt to goods with various specifications.

The anti-blocking method for the vending machine robot provided by the invention enables goods in the goods channel of the vending robot to be sold without the phenomenon of goods blocking, and the goods can be smoothly discharged and sold no matter how light the goods are.

In fig. 17 and 18, the internal structure of the vending robot including the loading device includes: robot head 11+rotary goods way 4+goods way integral rotary bearing system 83+electromagnet limiting mechanism and accessory 84+six-wheel universal mobile chassis 15+synchronous arm 12+elevator anti-blocking mechanism 9.

Shown in fig. 17 and 18, which rotate the lane portion: this intelligent robot of selling goods comprises ten layers of rotatory goods way, and the inside blade of every layer can independently rotate.

The equal amount of the blades from bottom to top is gradually increased, the device is suitable for placing large articles on the lower layer, and smaller articles are gradually placed on the upper layer.

The replenishment method of this embodiment: as shown in fig. 17, the tray of the goods way is hollowed out all around, goods are directly put into the tray from the hollowed-out holes during goods replenishment, the periphery of the goods way is also designed with a silica gel covering piece, and the silica gel covering piece is used for preventing the goods from falling out from the circumferential side surface of the goods way in the goods delivery movement, and the silica gel covering piece is uniformly perforated and is quickly connected with a T-shaped buckle designed on the tray. That is, the outer peripheral side wall of the goods way is covered by silica gel, and a certain gap is formed between the outer peripheral side wall of the goods way and the shell of the vending robot. The periphery lateral wall that the goods was said is formed by using the silica gel spare to cover, has offered vertical line of cutting on the silica gel spare simultaneously, in the hand was said to the goods was said from vertical line department of cutting to stopper, and after the corresponding position of these 10 layers of goods were said all to pack the goods, 10 layers of goods were said and are wholly rotated an angle, then can carry out the replenishment to the empty goods way (can be one or more goods way in the same layer of goods way) that these 10 layers of goods were said to turn over. When the vending robot enters a replenishment state, the electromagnetic lock in the electromagnet limiting mechanism and the accessory 84 of the electromagnet limiting mechanism is opened, so that the 10 layers of goods channels integrally rotate by one angle. When the vending robot enters a vending state, the electromagnetic lock is closed, and each layer of goods channel is independently rotated.

The ten layers of the goods lanes are stacked, then are tensioned through screws and are stacked on a supporting structure shown in fig. 19-21, and then the tensioned ten layers of the goods lanes are fixed through two screws. In fig. 19 to 21: bearing inner ring sleeve 831, angular contact ball bearing 832, bearing outer ring sleeve 833 and limit retainer 834.

In the invention, the plastic shell is arranged on the periphery of the robot framework, and the front door and the rear door are mainly used for vending goods, and the left side and the right side of the plastic shell are difficult to open and can not be conveniently used for replenishing goods from the outer sides around the robot, so that the replenishing goods and loading of the multilayer rotary goods channel of the automatic vending robot becomes a difficult problem in the field. In order to solve the above problems, when the robot enters the replenishment mode, the electromagnet limiting pin is opened, namely the electromagnetic lock is opened, and 10 layers of rotary freight channels of the vending robot are uniformly fixed after being overlapped, so that the whole rotation of the 10 layers of rotary freight channels can be realized through the mechanism shown in fig. 19-21, and the rapid replenishment of all freight channels can be completed under the condition that only the rear door of the plastic shell of the robot is opened.

Fig. 22 is a schematic view of a single-layer rotary lane with 69 equally divided, which corresponds to the 10 th layer, i.e. the topmost lane, of the mobile vending robot of fig. 19-21 and 24 from bottom to top. The layer of lanes equally divided the cylindrical lanes into 69 equal parts. In fig. 23, a worm gear reduction motor 101+pinion 102+ring gear 103+hollow welded skeleton and bearing system 104.

In the invention, the goods channel corresponding to fig. 22-23 is characterized in that the blade assembly moves relative to the tray, goods with proper volume are placed between the blades, and each layer of tray is provided with a goods dropping hole with the area consistent with the area of the included angle area of the two blades for dropping goods from the place. The number of the equal-divided blades of the multilayer goods way from top to bottom in the embodiment gradually decreases.

As shown in fig. 24, in one embodiment of the present invention, 7 different equally-divided goods lanes are arranged on the same vending robot, and the maximum width between two adjacent blades includes 7 different sizes. Specifically, the diameter of the trays of the first to third layers of rotary pallets from bottom to top is 500mm, while the diameter of the trays of the fourth to tenth layers of rotary pallets is 450mm, and the overall height of the ten layers of rotary pallets is 935mm. The height of the first layer and the second layer of the rotary goods channel from bottom to top is 85mm, the maximum distance between every two adjacent blades of the same layer of the rotary goods channel is 107mm, and 13 parts of the rotary goods channel are equally divided into 13 parts by 13 blades corresponding to the layer of the rotary goods channel. The third layer of rotary goods way from bottom to top has the height of 170mm, the maximum distance between two adjacent blades of the rotary goods way is 74mm, and 19 parts of rotary goods way are equally divided into 19 parts by 19 blades corresponding to the layer of rotary goods way. The heights of the fourth layer and the fifth layer rotary goods channel from bottom to top are 85mm, the maximum distance between every two adjacent blades of the same layer rotary goods channel is 61mm, and 23 blades equally divide the rotary goods channel into 23 parts corresponding to the layer rotary goods channel. The heights of the sixth layer and the seventh layer of rotary goods channels from bottom to top are 85mm, the maximum distance between every two adjacent blades of the same layer of rotary goods channels is 49mm, and 29 parts of rotary goods channels are equally divided into 29 parts by 29 blades corresponding to the layer of rotary goods channels. The height of the eighth layer of rotary goods channel from bottom to top is 85mm, the maximum distance between two adjacent blades of the rotary goods channel is 38mm, and the rotary goods channel is equally divided into 37 parts by 37 blades corresponding to the layer of rotary goods channel. The height of the ninth layer of rotary goods channel from bottom to top is 85mm, the maximum distance between every two adjacent blades of the rotary goods channel is 29mm, and the rotary goods channel is divided into 49 parts by 49 blades equally corresponding to the layer of rotary goods channel. The tenth layer of rotary goods way from bottom to top has the height of 85mm, the maximum distance between two adjacent blades of the rotary goods way is 20mm, and 69 parts of rotary goods way are equally divided into 69 parts by 69 blades corresponding to the layer of rotary goods way. The goods falling channel of the embodiment is gradually enlarged from top to bottom, so that friction and impact between the goods falling channel and the goods falling channel after goods falling can be reduced, and the goods discharging success rate is improved.

In connection with fig. 18 and 24, the height of all the rotary cargo lanes is unified to a certain size and integer multiple thereof, for example 85mm or integer multiple thereof. The height of each layer of goods way is unified so that the internal framework is universal, the internal framework adopts upper and lower sleeve transition fit to ensure the whole concentricity, the axial adopts waist-shaped holes to cooperate with screws to limit and prevent rotation around the axis, and the goods way is tensioned by a screw after being overlapped. The embodiment only provides a feasible structural form, as long as each goods way meets the condition that the goods outlet of the upper goods way is smaller than or equal to the goods outlet of the lower goods way, and the number of the equal-dividing blades of the upper goods way is larger than or equal to the number of the equal-dividing blades of the lower goods way, each layer of goods way of each robot can be freely matched and combined, so that the robot is suitable for selling goods with different sizes.

In fig. 25: the elevator anti-blocking mechanism 9 comprises a dredging bracket 91, a ball screw group 92, a guide rod 93, a base fixing plate 94 and an anti-blocking driving motor 95. The dredging brackets function the same as the dredging claws 63 in the previous embodiment.

The rotary goods way is adopted in a free falling type falling goods discharging mode, goods can be discharged easily by a certain dead weight, and the phenomenon of friction with the inner wall of a goods falling channel exists when lighter goods are discharged, so that the phenomenon of small probability of goods blocking exists. Therefore, the invention designs an anti-blocking cargo scheme. Comprises the steps of 1 and 2:

Step 1: when the goods are blocked in the goods delivery channel, the goods delivery channel cannot feed back the goods delivery channel layer where the blocked goods are located, so that the blades of different goods channel layers from bottom to top move by 0.2-0.3 times of the goods delivery angle along the goods delivery rotating direction and return again under the logic control, if the goods delivery detection switch at the bottom of the vending robot detects that the goods delivery is successful, the anti-blocking goods delivery scheme is completed, and if the goods delivery detection switch at the bottom of the robot still does not detect that the goods delivery is successful, the step 1 is implemented once again, or the step 2 is directly carried out. The actual measurement step 1 can dredge the delivery channel better.

Step 2: the robot is matched with an elevator anti-blocking mechanism shown in fig. 25, the mechanism is mainly used for physical collision dredging, and after the step 1 is triggered and is implemented for one to two times, a goods falling channel cannot be dredged, the matched elevator anti-blocking mechanism 9 is started.

In step 1, for example, the layer of goods way is 360 degrees circumferentially, and the layer of goods way is 4 blades altogether, so that the layer of goods way is divided into four grids, each grid is 90 degrees, the blades are delivered clockwise, namely, under normal conditions, the blades rotate 90 degrees clockwise to enable goods to smoothly fall down, but if the goods do not smoothly fall down, step 1 is implemented, namely, the whole blade is moved clockwise for 20 degrees again to return to the original position, and the shaking process is realized. The amplitude of the shake is 20-30% of the shipment angle. If the 6 th layer from bottom to top is a shipment layer, the bottom of the robot detects that the shipment is not smooth, the robot shakes from the 1 st layer to the 6 th layer at the lower part, or shakes from the 1 st to the 6 th layers from bottom to top at the same time, and the step 1 is completed. If the dredging is not performed, the step 1 is repeated or the step 2 is directly performed.

The foregoing examples are provided for the purpose of clearly illustrating the technical aspects of the present invention and are not to be construed as limiting the embodiments of the present invention. Any other equivalent technical characteristics may be changed or modified without changing the basic idea and essence of the present invention, and the present invention shall fall within the scope of the claims.

Claims

1. The vending robot comprises a multilayer rotary goods channel which is arranged above a goods outlet of the robot and is arranged up and down, wherein the rotary goods channel comprises a cylindrical annular goods channel substrate, blades arranged in the rotary goods channel substrate and gears used for driving the blades to rotate, the blades are flat blades arranged in a vertical plane, and a plurality of blades are uniformly distributed in the circumferential direction of the goods channel, so that the goods channel substrate is equally divided into a plurality of grids mainly used for storing goods;

the method comprises the following steps:

step 1: when the goods are blocked in the goods delivery channel, the blades of different rotary goods channel layers from the first layer to the goods delivery layer from bottom to top move by 0.05-0.5 times of the goods delivery angle along the goods delivery rotation direction and return again through logic control, if the goods delivery detection switch at the bottom of the vending robot detects that the goods delivery is successful, the anti-blocking goods scheme is completed, and if the goods delivery detection switch at the bottom of the robot still does not detect that the goods delivery is successful, the step 1 is implemented once again, or the step 2 is directly carried out;

2. The anti-blocking method of a vending machine robot according to claim 1, wherein the elevator type anti-blocking mechanism comprises a vertically arranged supporting rod and a dredging claw (63) capable of performing up-and-down reciprocating motion on the supporting rod, and the dredging claw (63) can stay right above a goods falling port of a top-layer rotary goods channel and can move up-and-down to right below the goods falling port of a bottom-layer rotary goods channel.

3. The anti-blocking method of a vending machine robot according to claim 2, wherein the lane base comprises a cylindrical annular inner lane base (45) and a cylindrical annular outer lane base (44) which are arranged on the radial inner and outer coaxial lines, an inner lane blade (47) and an outer lane blade (46) which are respectively arranged in the lane base, and an inner meshing gearwheel (401) for driving the outer lane blade (46) to rotate, wherein a plurality of inner lane blades (47) are uniformly distributed in the circumferential direction of the inner lane, so that the inner lane base (45) is equally divided into a plurality of lattices mainly used for storing articles, and a plurality of outer lane blades (46) are uniformly distributed in the circumferential direction of the outer lane, so that the outer lane base (44) is equally divided into a plurality of lattices mainly used for storing articles; the inner ring goods way base body (45) comprises an inner ring goods way inner side wall (451), an inner ring goods way outer side wall (452) and a fixed inner ring goods way bottom plate (453) which can not rotate, the inner ring goods way inner side wall (451) is fixedly connected with the inner ring goods way blades (47) so as to rotate along with the blades, and the inner ring goods way outer side wall (452) is fixedly connected with the bottom plate so as to keep fixed; at least one bottom plate block corresponding to a grid space on the inner ring goods channel bottom plate (453) is provided with a through hole which is convenient for goods to pass downwards or is in an integral vacant state to form an inner ring goods channel goods-falling port (42), so that the goods can freely fall from the inner ring goods channel goods-falling port (42) to a goods outlet (14) of a robot positioned below the rotary goods channel after being pushed by rotation of the blades; the outer lane substrate (44) comprises an outer lane inner side wall (441), an outer lane outer side wall (442) and a fixed and non-rotatable outer lane bottom plate (443), the outer lane inner side wall (441) is fixedly connected with the outer lane blades (46) so as to rotate along with the blades, and the outer lane outer side wall (442) is fixedly connected with the bottom plate so as to be kept fixed; at least one bottom plate block corresponding to the grid space on the outer ring goods channel bottom plate (443) is provided with a through hole which is convenient for goods to pass downwards or is in an integral vacant state to form an outer ring goods channel goods outlet (41), so that the goods can freely fall from the outer ring goods channel goods outlet (41) to the goods outlet (14) of the robot below the rotary goods channel after being pushed by the rotation of the blades.

4. A vending machine robot anti-blocking method according to claim 3, wherein the elevator type anti-blocking mechanism comprises a blocking and dredging mechanism (6), the blocking and dredging mechanism (6) comprises an outer ring blocking and dredging mechanism (61) and an inner ring blocking and dredging mechanism (62) which are respectively arranged at an outer ring goods channel goods falling port (41) and an inner ring goods channel goods falling port (42), and both comprise a vertically arranged support rod and a dredging claw (63) capable of performing up-and-down reciprocating motion on the support rod, and the dredging claw (63) can stay right above the outer ring goods channel goods falling port (41) or the inner ring goods channel goods falling port (42) of a top layer rotating goods channel and can move up and down to right below the outer ring goods channel goods falling port (41) or the inner ring goods channel goods falling port (42) of a bottom layer rotating goods channel; the upper limit and the lower limit of the outer ring cargo blocking and dredging mechanism (61) and the inner ring cargo blocking and 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).

5. The anti-blocking method of a vending machine robot according to claim 4, wherein the support rod of the outer ring blocking and dredging mechanism (61) is arranged on the radial outer side of the outer ring goods channel goods falling opening (41), and the support rod of the inner ring blocking and dredging mechanism (62) is arranged on the radial outer side of the inner ring goods channel goods falling opening (42) and on the radial inner side of the inner meshing large gear (401).

6. The method for preventing blocking of a vending machine robot according to claim 5, wherein the multi-layer rotating cargo lanes are all arranged on the bottom supporting plate, and the supporting rods of the outer ring blocking and dredging mechanism (61) and the inner ring blocking and dredging mechanism (62) are also fixedly arranged on the bottom supporting plate.

7. The anti-blocking method of a vending machine robot according to any one of claims 1 to 6, wherein when the robot receives an instruction to carry out shipment, the robot resets the positions of the blades on the corresponding rotary shipment channels, then controls an outer ring driving motor (71) or an inner ring driving motor (72) of the corresponding layer to start to drive the blades to rotate, and after the reflective photoelectric sensor detects a signal that the blades reach the corresponding positions, the motor stops, and whether the shipment port has goods is detected by the correlation photoelectric sensor; if the goods at the goods outlet are not available, namely the goods outlet channel is blocked, the step 1 and the step 2 are controlled to be carried out successively, or the dredging of the blocked goods is finished only by carrying out the step 1.

8. The method for preventing blocking of vending machine robot according to any one of claims 1-6, wherein when the shipment channel is blocked, the logic control makes the blades of different rotary shipment channel layers from the first layer to the shipment layer move again along the shipment rotation direction simultaneously or sequentially.

9. The anti-blocking method of a vending machine robot according to any one of claims 3 to 6, wherein the vending robot is provided with an elevator anti-blocking mechanism for an outer lane and an elevator anti-blocking mechanism for an inner lane.

10. The method for preventing blocking of a vending machine robot according to any one of claims 1 to 6, wherein the logic control in step 1 causes the blades of different rotary lane layers from the first layer to the shipment layer to move back by 0.2 to 0.3 times of shipment angle along the shipment rotation direction.