CN114241661A - Split type vending robot - Google Patents
Split type vending robot Download PDFInfo
- Publication number
- CN114241661A CN114241661A CN202111536157.2A CN202111536157A CN114241661A CN 114241661 A CN114241661 A CN 114241661A CN 202111536157 A CN202111536157 A CN 202111536157A CN 114241661 A CN114241661 A CN 114241661A
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- vending robot
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- 210000001503 joint Anatomy 0.000 claims abstract description 13
- 238000003032 molecular docking Methods 0.000 claims description 23
- 239000000463 material Substances 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 3
- 239000002253 acid Substances 0.000 claims description 3
- 229910001416 lithium ion Inorganic materials 0.000 claims description 3
- 230000035939 shock Effects 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 229920000122 acrylonitrile butadiene styrene Polymers 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000012856 packing Methods 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, and particularly provides a split type vending robot which comprises a vending cabinet, a supporting device, a driving device and a junction and butt joint device. The supporting device is detachably mounted at the bottom of the sales counter, and the driving device is movably arranged at the lower part of the supporting device and drives the supporting device to ascend or descend through a lifting mechanism arranged in the supporting device. The intersection butt joint device is fixedly arranged in the driving device and is used for intersection butt joint with the supporting device or other driving devices. The split type vending robot driving device can be combined with one or more vending cabinets to perform automatic vending and can be in intersection butt joint with other vending cabinets or other driving devices to realize combined vending.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a split type vending robot.
Background
The vending machine is arranged in places with large flow of people, such as office buildings, hospitals, hotels, schools and other places, and sells commodities. The traditional vending machine brings great convenience to life of people. Especially in an office building, providing a commodity selling service through a vending machine may provide great convenience to consumers. However, conventional vending machines are currently stationarily placed at the venues and require the consumer to go to the store for consumption. By adopting the selling mode, on one hand, a consumer needs to spend more time, on the other hand, the traditional fixed vending machine cannot be fully distributed in the street and alley due to the restriction of vending machine site selection and the restriction of site rent cost.
With the acceleration of life rhythm, the demand for paying and finding people such as 'doing instead of' running legs instead of doing simple and time-consuming work is increasingly prominent. Therefore, the movable automatic vending robot can sell goods instead of manpower as soon as possible. The current robot of selling goods is mostly the integral type structure, and the packing cupboard and the drive division of the robot of selling goods can not carry out the split, and once the cabinet body of the robot of selling goods takes place to damage, then leads to whole robot of selling goods complete machine can not use, resource-wasting.
Disclosure of Invention
The invention aims to provide a split type vending robot, which aims to solve the technical problems that a container and a driving part of an integrated vending robot in the prior art cannot be detached and cannot be matched with other containers in a time-sharing manner for automatic butt joint.
To achieve the above object, the present invention provides a split type vending robot, comprising:
at least one sales counter;
a support device detachably mounted to the bottom of the sales counter;
the driving device is movably arranged at the lower part of the supporting device and drives the supporting device to ascend or descend through a lifting mechanism arranged in the supporting device;
the intersection butt joint device is fixedly arranged in the driving device and is used for intersection butt joint with the supporting device or other driving devices.
In some embodiments, the intersection and docking device includes an electromagnet, a controller, a docking identification device, a data acquisition device, and a power supply, where the electromagnet, the controller, the docking identification device, and the data acquisition device are respectively electrically connected to the controller through a line, and the controller is electrically connected to the power supply through a line.
In some embodiments, the drive device further comprises a drive motor and a drive wheel, the drive wheel being connected to the drive motor.
In some embodiments, the electromagnet is fixedly mounted on the top of the driving device and/or on the circumferential wall surface of the body of the driving device.
In some embodiments, the supporting device comprises a supporting frame, a supporting wheel and a supporting plate, wherein the supporting plate is fixedly arranged on the supporting frame, and the supporting wheel is rotatably arranged at the lower part of the supporting frame.
In some embodiments, the support plate is made of a ferrous material.
In some embodiments, the docking identification device comprises any one of an electronic tag, a nameplate, and a two-dimensional code.
In some embodiments, the data acquisition device comprises a vision sensor, a lidar, a reader, a camera.
In some embodiments, the lifting mechanism is any one of an electric cylinder, a hydraulic cylinder, and a pneumatic cylinder.
In some embodiments, the power source is a battery, which is a lithium ion battery or a lead acid battery.
The split vending robot provided by the invention has the beneficial effects that: the sales counter and the driving device of the split type vending robot are of split type structures. The vending cabinet with different commodities can be used for vending commodities automatically according to different task types, the vending cabinet can be independently placed in a fixed place for vending commodities, and the vending cabinet can also be used together with a driving device for carrying out mobile vending. In particular, the drive device may be used in conjunction with one or more sales containers for automated vending and may be interfaced with other sales containers or other drive devices for vending in combination.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic view of a split vending robot according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of a sales counter of a split vending robot according to an embodiment of the present invention;
fig. 3 is a schematic perspective view illustrating a support frame of a split vending robot according to an embodiment of the present invention;
fig. 4 is a schematic perspective view illustrating a supporting plate of a split vending robot according to an embodiment of the present invention;
fig. 5 is a schematic circuit structure diagram of a split-type vending robot according to an embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positions based on the orientations or positions shown in the drawings, and are for convenience of description only and not to be construed as limiting the technical solution. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.
As shown in fig. 1 to 5, the present disclosure provides a split-type vending robot, which includes a vending cabinet 10, a supporting device 20, a driving device 30, and a junction docking device 40. The supporting means 20 are detachably mounted at the bottom of the sales counter 10. The driving device 30 is movably disposed at a lower portion of the supporting device 20 and drives the supporting device 20 to ascend or descend by a lifting mechanism 303 installed in the supporting device 20 to move up or down installed on the supporting device 20. The cross docking device 40 is fixedly installed in the driving device 30 for cross docking with the supporting device 20 or cross docking with other driving devices 30. In this embodiment, the intersection docking device 40 includes a controller 401, a docking recognition device 405, a data acquisition device 403, a power source 402, and an electromagnet 404. The electromagnet 404, the controller 401, the docking recognition device 405 and the data acquisition device 403 are electrically connected with the controller 401 through lines respectively. The controller 401 is electrically connected to the power source 402 through a wire. In some embodiments, the electromagnet 404 is fixedly mounted on top of the body 50 of the drive device 30. In other embodiments, the number of the electromagnets 404 is plural, specifically 5, wherein 1 electromagnet 404 is fixedly installed on the top of the machine body 50, and the other 4 electromagnets 404 are respectively installed on four circumferential wall surfaces of the machine body 50. In the present embodiment, the housing 50 is made of a steel material. The portion of the support device 20 in contact with the electromagnet 404 is also made of steel.
The split type vending robot of this embodiment operates on the principle that the driving means 30 is detachably installed at the bottom of the supporting means 20 to drive the supporting means 20 and the sales counter 10 located on the supporting means 20 to move for displacement. The lifting mechanism 303 is vertically and fixedly installed in the machine body 50. The movable supporting device 20 of the movement executing part of the lifting mechanism 303 is movably contacted to drive the supporting device 20 to ascend or descend so as to drive the sales counter 10 to ascend or descend. The driving device 30 drives the vending cabinet 10 to vend goods. The electromagnet 404 in the meeting docking device 40 is powered by the power source 402. The electromagnet 404 performs the cross-docking of the driving device 30 and the supporting device 20 and the cross-docking with other driving devices 30 by the control of the controller 401.
The split type vending robot provided by the embodiment of the disclosure has at least the beneficial effects that the driving device 30 and the sales counter 10 of the split type vending robot adopt a split type structure design. The vending cabinet 10 may be placed independently at a fixed location for vending products during use, or may be used in conjunction with the driving device 30 for mobile vending products. In particular, the drive means 30 may be used for vending in conjunction with one or more of the vending containers 10 and may be adapted to interface with other vending containers 10 or other drive means 30 to effect vending combinations.
Referring again to fig. 1 and 2, the sales counter 10 has a plurality of storage compartments 11. The sales counter 10 is of a rectangular configuration. A storage compartment 11 and a display 12 are fixedly mounted on the sales counter 10. The number of storage compartments 11 may be set as desired. E.g., 2, 3, 4, etc. The sales counter 10 is detachably mounted on top of the supporting means 20. The sales counter 10 is made of a metallic material or a plastic material. The material can be made of any one of aluminum alloy material, ABS plastic and steel material. In the present embodiment, the supporting device 20 includes a supporting frame 201, a supporting wheel 202 and a supporting plate 203. The supporting frame 201 is formed by welding a metal frame structure. The supporting plate 203 is detachably mounted on the supporting frame 203. The number of support wheels 202 is four. The four supporting wheels 202 are fixedly arranged at the bottom of the supporting frame 201 through a connecting frame 204. In some embodiments, the support wheels 202 are universal wheels or universal wheels with locking function, and are not limited herein. Fig. 2 discloses a schematic perspective structure of the sales counter 10 of the embodiment. In this embodiment, the display screen 12 is an LED display screen or an LCD display screen. In particular, the display 12 is fixedly mounted on the side walls of the sales counter 10. The display 12 may be used to display information such as the type, price, date of manufacture, etc. of the item to be sold. In other embodiments, the merchandiser 10 is a thermal cabinet that can be automatically heated or cooled.
As shown in fig. 3, a schematic perspective view of the supporting frame 201 of the present embodiment is disclosed. In some embodiments, a slot 205 is provided on the support bracket 201. The slot 205 is shaped in a rectangular configuration. The supporting plate 203 is detachably received in the slot 205. In some embodiments, four attachment brackets 204 are provided at the bottom of the support bracket 203. The cross-sectional area of the top of the support frame 201 is larger than the cross-sectional area of the bottom of the sales counter 10. Can show the stability that improves split type machine people that sells goods through this kind of structural design. And the driving means 30 can significantly improve the operational stability of the sales counter 10 when moving the sales counter 10.
Fig. 4 discloses a schematic perspective view of the supporting plate 203 in this embodiment. Fig. 5 is a schematic circuit diagram of the split vending robot in this embodiment. In this embodiment, the supporting plate 203 also has a rectangular structure. A docking recognition device 405 is installed in the support plate 203. The docking identification device 405 is any one of an electronic tag, a nameplate, and a two-dimensional code. In other embodiments, the electronic tag is an active electronic tag or a passive electronic tag. A data acquisition device 403 is installed in the drive device 30. The data acquisition device 403 includes one or more of a vision sensor, a laser radar, a reader, and a camera. The vision sensor collects information stored in the recognition docking recognition device 405 of the supporting plate 203 and positions the driving device 30, the laser radar can collect the two-dimensional code on the supporting plate 203 to recognize the ID numbers of the sales counter 10 and the supporting device 20, and the camera can collect image information on the supporting plate 203. The reader may collect electronic label information applied to the support plate 203. The driving motor 301 and the lifting mechanism 303 are electrically connected to the controller 401 through a line. Similarly, the power source 402 is electrically connected to the controller 401 through a wire and supplies power to the driving motor 301 and the lifting mechanism 303. In the present embodiment, the supporting plate 203 is made of a metallic iron material. The electromagnet 404 can realize the intersection and the butt joint of the driving device 30 and the supporting plate 203 on the supporting device 20 or realize the intersection and the butt joint with other driving devices 30 through the control of the controller 401.
In other embodiments, the electromagnet 404 may be replaced with a suction cup. The driving device 30 drives the sales counter 10 to sell goods through the intersection and butt joint of the negative pressure suction cup 30 mounted thereon and the supporting device 20, or the intersection and butt joint with other driving devices 30.
In the present embodiment, the driving device 30 includes a driving motor 301 and a driving wheel 302 mounted on the body 50. The driving wheel 302 is connected with the main shaft of the driving motor 301 to drive the driving wheel 302 to rotate. The number of drive wheels 302 is four. Four drive wheels 302 are provided at the bottom of the body 50. The driving motor 301 is a stepping motor or a servo motor. In some embodiments, the number of the driving motors 301 is one, and four driving wheels 302 are driven by one driving motor 301. In other embodiments, the number of the driving motors 301 is two, two driving wheels 302 of the four driving wheels 302 are disposed at the front end of the driving device 30 as main driving wheels, and the two outer two driving wheels 302 are driven wheels and are disposed at the rear end of the driving device 30. Alternatively, the four driving wheels 302 are all main driving wheels and are driven by the driving motor 301 to drive the driving device to move. In some embodiments, drive wheels 302 are mecanum wheels or omni wheels. An advantage of using a mecanum wheel for drive wheel 302 is that drive 30 can be moved horizontally and rotated in place in any direction by the unique operation of the mecanum wheel. With this feature, the maneuverability of the drive device 30 can be improved and displacement and rotation of any angle can be performed in a narrow space.
In some embodiments, the body 50 of the driving device 30 has a rectangular structure or a circular structure, which is not limited herein. The sales counter 10 is detachably mounted on top of the supporting means 20. In the present embodiment, the lifting mechanism 303 in the machine body 50 is any one of an electric cylinder, a hydraulic cylinder, and an air cylinder. The lifting mechanism 303 is used to lift the supporting means 20 placed on top of the driving means 30 and the sales counter 10 off the ground.
In some embodiments, the lift mechanism 303 further includes a shock absorbing plate 3031. Shock absorbing plate 3031 is a rectangular structure or a circular structure, and the shape thereof can be set as required. The shock absorbing plate 3031 is detachably mounted on the top of the lifting mechanism 303 and is in movable contact with the lower surface of the support plate 203. The arrangement of the shock absorbing plate 3031 can effectively improve the operational stability of the lifting mechanism 303 and can reduce the shock generated during the lifting of the counter 10. Further, in order to improve the reliability and stability of the operation, at least one positioning hole is formed on the shock absorbing plate 3031 to be coupled with the positioning post 2031 formed on the supporting plate 203. The number of the positioning columns 2031 and the positioning holes can be set as required, for example, 2, 4, etc. The positioning column 2031 and the positioning hole are matched to effectively ensure the motion stability of the supporting plate 203, so as to further improve the motion stability of the sales counter 10 placed on the supporting frame 201.
The split type vending robot of this embodiment operates on the principle that the driving means 30 is detachably installed at the bottom of the supporting means 20 to drive the supporting means 20 and the sales counter 10 located on the supporting means 20 to move for displacement. The working principle of the split-type vending robot of the embodiment is specifically described by taking the lifting mechanism 303 as an electric cylinder as an example, the electric cylinder is vertically and fixedly installed in the machine body 50, and a push rod of the electric cylinder is movably contacted with the support plate 203 fixedly installed at the bottom of the support frame 201. Alternatively, a shock absorbing plate 3031 may be detachably mounted on the top of the push rod. The shock absorbing plate 3031 is in movable contact with the support plate 203. When the push rod of the electric cylinder is extended, the sales counter 10 and the supporting device 20 placed on the driving device 30 can be jacked up and drive the sales counter 10 and the supporting device 20 to move, so that the purpose of driving the sales counter 10 to sell goods is achieved. A power source 402 is fixedly installed in the body 50. The power source 402 is electrically connected to the controller 401 through a wire connection. In some embodiments, power source 402 is a lithium ion battery or a lead acid battery. In this embodiment, the driving device 30 obtains a moving vending command instructing the driving device 30 to move to the bottom of the corresponding sales container 10 and to identify the docking identification device 405 in the supporting plate 203 on the supporting device 20 through the data collecting device 403, and when the identification is passed, the controller 401 controls the lifting mechanism 303 to lift the corresponding sales container 10 and controls the power supply 402 to supply power to the electromagnet 404 to perform the docking with the supporting device 20.
The above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present disclosure, and are intended to be included within the scope of the present disclosure.
Claims (10)
1. A split vending robot, comprising:
at least one sales counter;
a support device detachably mounted to the bottom of the sales counter;
the driving device is movably arranged at the lower part of the supporting device and drives the supporting device to ascend or descend through a lifting mechanism arranged in the supporting device;
the intersection butt joint device is fixedly arranged in the driving device and is used for intersection butt joint with the supporting device or other driving devices.
2. The split-type vending robot according to claim 1, wherein the intersection docking device comprises a controller, a docking recognition device, a data acquisition device, a power supply and an electromagnet, the controller, the docking recognition device and the data acquisition device are electrically connected with the controller through circuits respectively, and the controller is electrically connected with the power supply through a circuit.
3. The split-type vending robot according to claim 2, wherein the driving means further comprises a driving motor and a driving wheel, the driving wheel being connected to the driving motor.
4. The split-type vending robot according to claim 2, wherein the electromagnet is fixedly installed at a top of the driving device and/or at a circumferential wall surface of a body of the driving device.
5. The split-type vending robot according to claim 1, wherein the supporting means includes a supporting frame, a supporting wheel and a supporting plate, the supporting plate is fixedly installed on the supporting frame, and the supporting wheel is rotatably installed at a lower portion of the supporting frame.
6. The split-type vending robot according to claim 4, wherein the support plate is made of a steel material.
7. The split-type vending robot according to claim 2, wherein the docking recognition means includes any one of an electronic tag, a nameplate, and a two-dimensional code.
8. The split-type vending robot according to claim 2, wherein the data acquisition device comprises a vision sensor, a laser radar, a reader, and a camera.
9. The split-type vending robot according to claim 1, wherein the lifting mechanism is any one of an electric cylinder, a hydraulic cylinder, and an air cylinder.
10. The drive mechanism as recited in claim 1, wherein the power source is a battery, the battery being a lithium ion battery or a lead acid battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111536157.2A CN114241661A (en) | 2021-12-15 | 2021-12-15 | Split type vending robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111536157.2A CN114241661A (en) | 2021-12-15 | 2021-12-15 | Split type vending robot |
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| CN114241661A true CN114241661A (en) | 2022-03-25 |
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| CN202111536157.2A Pending CN114241661A (en) | 2021-12-15 | 2021-12-15 | Split type vending robot |
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| CN212460683U (en) * | 2020-06-02 | 2021-02-02 | 上海人云科技有限公司 | Robot with automatic vending function |
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2021
- 2021-12-15 CN CN202111536157.2A patent/CN114241661A/en active Pending
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|---|---|---|---|---|
| CN107146324A (en) * | 2017-06-16 | 2017-09-08 | 颜培玥 | A kind of vending machine and its application |
| CN207902585U (en) * | 2018-02-28 | 2018-09-25 | 陕西科技大学 | A kind of counter fast assembly and disassembly mechanism for autonomous dispensing machine people |
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Application publication date: 20220325 |