CN208433051U

CN208433051U - A kind of vending equipment docking robot and people

Info

Publication number: CN208433051U
Application number: CN201821308990.5U
Authority: CN
Inventors: 周俊杰
Original assignee: About Suzhou Brand Management Co Ltd
Current assignee: About Suzhou Brand Management Co Ltd
Priority date: 2018-08-14
Filing date: 2018-08-14
Publication date: 2019-01-25
Anticipated expiration: 2028-08-14

Abstract

The utility model discloses one kind can dock robot and the vending equipment of people, including main body of selling goods, and is equipped with shelf, the picking storehouse for picking and the picking gripper for placing article in the main body of selling goods；The main body of selling goods is equipped with the controller being connected with picking gripper, and the picking storehouse is equipped with the first entrance being connected to outside, places the second entrance of article for picking gripper；The signal transceiver being connected with cloud database, controller signals is equipped in the main body of selling goods；The first access point is equipped with the security door A can be vertical or moved left and right, for opening or closing first entrance；Security door B is provided at the second entrance, for opening or closing second entrance；The close inductor of induction robot is provided in main body of selling goods where on the outside of the picking storehouse.It solves the interaction problems with robot by security door A, security door B, inductor, realizes that people and robot share a counter and access section.

Description

A kind of vending equipment docking robot and people

Technical field

The utility model relates to vending machine fields, more particularly to one kind can dock robot and the vending equipment of people.

Background technique

Currently, the application of vending machine is more and more wider with the increasingly development of vending machine technology and maturation, lay increasingly It is more, it is seen everywhere in subway station, market, office building, and form huge business opportunity.Accordingly for automatic vending machine Also constantly extension, the type of automatic vending machine are also not quite similar for research.

Automatic vending machine on the market is operated with both for individual at present, and people select article, then at the scene Payment, corresponding article take out from shelf, and flow into picking storehouse along corresponding track, and the entrance in picking storehouse is put sometimes It is equipped with one piece of baffle that can inwardly overturn, is entered in picking storehouse for blocking dust.With the development of artificial intelligence, existing clothes Business humanoid robot can complete a whole set of process for once connecing multiple orders in the case where unmanned participate in, be provided simultaneously with reception, Greeting, guide, extract, advertisement, payment, hotel occupancy and the functions such as check out, the robot can unmanned behaviour after receiving order Make the work such as lower completion picking, delivery.And vending equipment on the market is unable to satisfy the need of above-mentioned robot picking at present It asks.

Utility model content

To overcome disadvantages mentioned above, the purpose of this utility model is to provide one kind can dock robot and the automatic vending of people Equipment.

In order to reach the goals above, the technical solution adopted in the utility model is: one kind can dock robot and people from Selling apparatus, including main body of selling goods are moved, the shelf for placing article, the picking storehouse for picking are provided in the main body of selling goods, Being provided in the main body of selling goods can remove from shelf by article and be placed on the picking gripper in picking storehouse；The master that sells goods It is provided with the controller being connected with picking gripper on body, is provided with the touch being connected with controller in the main body of selling goods and shows Screen；It is provided with the first entrance being connected to outside on the picking storehouse, places the second entrance of article for picking gripper；It is described The signal transceiver being connected with cloud database, controller signals is provided in main body of selling goods；The first access point is provided with The security door A can be vertical or moved left and right, for opening or closing first entrance；Security door B is provided at the second entrance, For opening or closing second entrance；The close sense of induction robot is provided in main body of selling goods where on the outside of the picking storehouse Answer device.

Programmable controller can be used in above controller, and control system is arranged inside, for controlling vending equipment Automatic running.And as other vending equipments, which is equipped with the power supply being connected with external power supply Unit, for the operation power supply to vending equipment.Above-mentioned touch display screen places an order use for Field Force, and above-mentioned touch is aobvious Selection, the determination of amount of article can be carried out in display screen, and carries out mobile payment, and the branch of mainstream is generally supported in above-mentioned mobile payment The payment of the barcode scannings such as Fu Bao, wechat.

The utility model is provided with security door A in first access point, and is set to the movement of vertical or left and right directions, when Inductor detect robot close to when, security door A open；The counter in robot is waited to protrude into picking storehouse, in order to incude In place whether counter, can be provided with close to sensors such as switches in picking storehouse and be monitored.When counter in place after, security door B It opens, picking gripper removes and places corresponding kinds of goods in counter from shelf.Due to vending equipment have with The connected signal transceiver of cloud database signal, client can remotely place an order, as cell phone application software or computer site carry out down Single, respective orders can be transmitted to cloud database processing, and cloud database will instruct while be sent to counter and robot.Pass through Security door A, security door B, inductor solve the interaction problems with robot, realize people and robot share a counter and Access section.

Furthermore, it is understood that the front of the main body of selling goods have article display area, the article display area be electrical screen or Shelf viewing area.The front of the main body of selling goods is also provided with camera, microphone and loudspeaker, and wherein camera is placed Above touch display screen, when single under people scene, the head portrait of operator can be filmed by camera；As setting Mike After wind and loudspeaker, Field Force, which places an order, can be used the mode of speech recognition and handles, and facilitate the operation of Field Force.

Preferably, the two sides of the first entrance are symmetrically arranged with one group of sliding slot A, and security door A is embedded in the sliding slot A It is interior, and motor A is provided in owner of cargo's body on sale, be provided with driving wheel in the drive shaft of the motor A, the driving wheel with it is described It is connected between security door A by transmission belt, the motor A is connected with controller.Aforesaid way can be realized security door A Vertical Square To operation.When needing to realize the operation of security door A horizontal direction, equally security door A is embedded in one group of sliding slot, and use servo Motor-driven silk ball-screw come drive security door A be moved forward and backward.The side of the security door B is provided in shaft, described The both ends of shaft are mounted on by bearing block sells goods in main body, and one end of the shaft passes through the drive shaft of shaft coupling and motor B It is connected, the motor B is connected with controller.Motor A drives security door A to run by transmission belt, improves the secured of security door A Property, it avoids easily being opened.Above-mentioned motor A uses servo motor, can carry out positive and negative rotation control.Motor B passes through drive shaft Rotate the overturning operation to realize security door B.Since the folding of security door A, security door B have a fixed range, exist thus Be provided with travel switch on the outside of security door A, for recording the mobile distance of security door A, when detect security door A it is mobile it is fixed away from From when, stop motor A operation.Due to security door B be overturning operation, in order to prevent security door B overturning excessively and with picking storehouse Collision is equipped with resilient cushion on security door B or picking storehouse, and is provided with sensor on corresponding picking storehouse, anti-for incuding Steal door B.

Preferably, the bottom in the picking storehouse is provided with anti-skidding crash roll, the downward impact force fallen for slowing down article, It plays a protective role to article.

Preferably, mobile mechanism is provided on the outside of the shelf, the mobile mechanism has to move along Z axis, X-direction, The picking gripper is mounted in the mobile mechanism, so that picking gripper can be moved along Z axis, X-direction.The movement Mechanism includes longitudinal leadscrew component A, the longitudinal leadscrew component A with driving motor of the vertical distribution at left and right sides of shelf On have horizontal leading screw component B that the horizontal positioned sliding block on longitudinal leadscrew component A is connected, with driving motor, it is described The picking gripper is provided on the sliding block of horizontal leading screw component B.Picking gripper is moved along Z axis, X-axis, very easily Article is taken out from shelf.

Another structure of the mobile mechanism is as follows: including be distributed horizontally to shelf or more two sides have driving motor Horizontal leading screw component B, the horizontal leading screw component B on have being connected with the sliding block on horizontal leading screw component B of being disposed vertically, Longitudinal leadscrew component A with driving motor is provided with the picking gripper on the sliding block of the longitudinal leadscrew component A.

Preferably, common shelf can be used in the shelf, can also use extended type shelf.When using extended type shelf When, the two sides of shelf are fixed in the left and right sides for main body of selling goods, and the front end of shelf is arranged in the picking gripper, are mended Goods maintenance door is arranged on owner of cargo's body on sale, and personnel is facilitated to add goods to shelf.

Preferably, it may be provided with advertisement position on owner of cargo's body on sale, and be arranged in the main body of selling goods where advertisement position rear There is advertisement position headlamp, makes the eye-catching of respective advertisement on advertisement position, be easy to be observed by people.

Detailed description of the invention

Fig. 1 is the schematic front view of the utility model embodiment 1；

Fig. 2 is the schematic cross-sectional view of the utility model embodiment 1；

Fig. 3 is the distribution schematic diagram of extended type shelf in the utility model embodiment 1；

Fig. 4 is the schematic cross-sectional view of the utility model embodiment 2；

Fig. 5 is the schematic front view of the utility model embodiment 2；

Fig. 6 is the schematic front view of the utility model embodiment 3.

In figure:

1- sells goods main body；2- article display area；3- touch display screen；4- inductor；5- picking storehouse；6- shelf；7- is mechanical Rest area；8- security door A；9- security door B；The anti-skidding crash roll of 10-；11- longitudinal leadscrew component A；12- horizontal leading screw component B； 13- picking gripper；14- camera；15- loudspeaker；16- advertisement position headlamp；17- advertisement position；18- replenishes maintenance door.

Specific embodiment

The preferred embodiment of the utility model is described in detail with reference to the accompanying drawing, so that the advantages of the utility model It can be easier to be readily appreciated by one skilled in the art with feature, to make the protection scope of the utility model apparent clear Define.

Embodiment 1

Robot and the vending equipment of people can be docked referring to one kind shown in attached drawing 1, Fig. 2, is present embodiments provided, is wrapped Main body 1 of selling goods is included, the main body 1 of selling goods is cabinet body, it is arranged inside and places the shelf 6 of article, is provided with picking storehouse 5, Being provided in owner of cargo's body 1 on sale can remove from shelf by article and be placed on the picking gripper in picking storehouse 5；The master that sells goods The controller being connected with picking gripper is provided on body 1.Programmable controller can be used in above controller, and control is arranged inside System processed, for controlling the automatic running of vending equipment.And as other vending equipments, which is set It is standby to be equipped with the power supply unit being connected with external power supply, for the operation power supply to vending equipment.Foregoing description belongs to routine Vending equipment scope.The front for selling goods main body 1 is provided with article display area 2, and the article display area 2 is electronics Screen or shelf viewing area；The front for selling goods main body 1 is provided with the touch display screen 3 being connected with controller.Above-mentioned touch is aobvious Display screen 3 places an order for Field Force, and the display interface of control system is shown in touch display screen, and Field Force touches above-mentioned touch Display screen 3 can carry out selection, the determination of amount of article, and carry out mobile payment, and the branch of mainstream is supported in above-mentioned mobile payment The barcode scannings payments such as Fu Bao, wechat payment.

It is provided with the signal transceiver being connected with cloud database signal in the main body 1 of selling goods, can be received from cloud The command signal of client database, and signal is passed into controller, so that picking gripper grabs corresponding article.The picking The entrance in storehouse 5 is provided with the security door A8 can be vertical or moved left and right, and is provided with security door B9 on cargo path exit or cargo path, Security door B9 is placed in the present embodiment in the picking storehouse 5 where cargo path exit；Selling goods where 5 outside of picking storehouse The close inductor 4 of induction robot is provided in main body.Camera 14, lower section setting are provided with above touch display screen 3 There are loudspeaker 15, microphone, above-mentioned camera 14, loudspeaker 15, microphone are connected with controller.

The utility model is provided with security door A in picking storehouse inlet, and is set to the movement of vertical or left and right directions, When inductor detect robot close to when, security door A open；The counter in robot is waited to protrude into picking storehouse, in order to feel It whether in place to answer counter, can be provided with close to sensors such as switches and be monitored in picking storehouse.When counter in place after, security door B is opened so that the article in cargo path flows into counter.Since vending equipment has the letter being connected with cloud database signal Number transceiver, client can remotely place an order, and if cell phone application software or computer site place an order, respective orders can be transmitted to cloud Client database processing, cloud database will instruct while being sent to counter and robot.It is collided when article falls in order to prevent Occur the problems such as damaged when main body 1 of selling goods, the bottom in the picking storehouse 5 is provided with anti-skidding crash roll 10, for slowing down article The downward impact force fallen.

In the present embodiment, the inlet two sides in the picking storehouse 5 are symmetrically arranged with one group of sliding slot A, security door A8 insertion In to the sliding slot A, and it is provided with motor A in owner of cargo's body 1 on sale, is provided with driving wheel in the drive shaft of the motor A, it is described It is connected between driving wheel and the security door A8 by transmission belt, the motor A is connected with controller.The one of the security door B9 Side is provided in shaft, and the both ends of the shaft are mounted on by bearing block sells goods in main body 1, and one end of the shaft passes through connection Axis device is connected with the drive shaft of motor B, and the motor B is connected with controller.Motor A drives security door A to transport by transmission belt Row, avoids security door A from easily being opened；Above-mentioned motor A uses servo motor, can carry out positive and negative rotation control.Motor B passes through drive Turn axis rotates the overturning operation to realize security door B, and above-mentioned motor B uses servo motor, can carry out positive and negative rotation control.Due to The folding of security door A, security door B have a fixed range, are provided with travel switch on the outside of security door A thus, for remembering The mobile distance for recording security door A stops motor A operation when detecting security door A movement fixed range.Since security door B is Operation is overturn, security door B overturning in order to prevent excessively and with picking storehouse is collided, and damping is equipped on security door B or picking storehouse Pad, and it is provided with sensor on corresponding picking storehouse, it is used for inductive theft-proof door B.

Common shelf can be used in shelf 6 in the present embodiment, can also use extended type shelf.When using extended type shelf When as shown in figure 3, the two sides of shelf 6 are fixed in the left and right sides for main body 1 of selling goods, the setting of picking gripper 13 exists The front end of shelf 6；The maintenance door that will replenish simultaneously is arranged before owner of cargo's body on sale, and personnel is facilitated to add goods to shelf.The present embodiment In, the shelf front end is provided with the mobile mechanism that can be moved along Z axis, X-direction, and picking gripper 13 is mounted on the movement In mechanism.The mobile mechanism includes vertical distribution in longitudinal leadscrew component A11 of the shelf two sides with driving motor, described There is transverse direction that the horizontal positioned sliding block on longitudinal leadscrew component A is connected, with driving motor on longitudinal leadscrew component A11 Lead screw assembly B12 is provided with the picking gripper 13 on the sliding block of the horizontal leading screw component B12.13 edge of picking gripper Z axis, X-axis it is mobile, very easily article is taken out from shelf.

For the ease of maintenance, the equipment such as controller, signal transceiver are specially placed on mechanical placement in the present embodiment In area 7.If the vending equipment has refrigerating function, i.e., the refrigeration equipments such as air-conditioning are increased in equipment, can also incite somebody to action Refrigeration equipment is placed in the machinery rest area 7.

Controller is connected with electrical equipments such as sensor, driving motors on selling apparatus in the present embodiment, for controlling Above equipment operation, realizes the normal operation of vending equipment；Picking gripper in the present embodiment is set with selling goods on the market Spare picking gripper is the same, can be used to grab article and place items in cargo path.

Embodiment 2

Referring to fig. 4, shown in Fig. 5, robot and the vending equipment of people can be docked by present embodiments providing one kind, including Main body of selling goods 1, the main body 1 of selling goods lean on the cabinet body of wall setting, and above-mentioned cabinet body is generally transparent material and is made, such as transparent doubling Tempered glass, convenient for the observation intracorporal product situation of cabinet.It is provided with advertisement position 17 above owner of cargo's body 1 on sale, is located at advertisement position 17 Advertisement position headlamp 16 is provided in main body 1 of selling goods where inside.It is provided with the maintenance door 18 that replenishes on owner of cargo's body 1 on sale, uses In plant maintenance and replenish.

In the same manner as in Example 1, it is provided with shelf in main body 1 of selling goods in the present embodiment, is provided with picking storehouse 5, it is on sale Being provided in owner of cargo's body 1 can remove from shelf by article and be placed on the picking gripper in picking storehouse 5；The main body 1 of selling goods On be provided with the controller being connected with picking gripper.The front for selling goods main body 1 is provided with the touching being connected with controller Touch display screen 3, camera, loudspeaker, microphone, mechanical rest area 7.It is provided in main body of selling goods 1 and cloud database, control The connected signal transceiver of device signal；The first access point is provided with the security door A can be vertical or moved left and right, for opening Or close first entrance；Security door B is provided at the second entrance, for opening or closing second entrance；The picking storehouse The close inductor 4 of induction robot is provided in main body of selling goods where outside.

Picking gripper 13 can be moved along X-axis, Z-direction, and picking gripper 13 is placed in corresponding mobile mechanism.With Embodiment 1 is different, and above-mentioned mobile mechanism includes the horizontal leading screw group with driving motor for being distributed horizontally to shelf or more two sides Have on part B12, the horizontal leading screw component B12 being connected with the sliding block on horizontal leading screw component B of being disposed vertically, there is driving The longitudinal leadscrew component A11 of motor is provided with the picking gripper 13 on the sliding block of the longitudinal leadscrew component A11.

Embodiment 3

The main structure of the present embodiment is same as Example 1, includes main body 1 of selling goods, and the main body 1 of selling goods is cabinet body, It is provided with camera, loudspeaker 15, microphone, inductor 4, touch display screen 3 and picking storehouse 5 on it, is provided in cabinet body Shelf and picking gripper, controller, signal transceiver for picking etc.；The difference is that: the touch display screen 3 Required product can be clicked directly on it in two sides against the left and right sides to cabinet body for large screen.Picking storehouse 5 is placed on The middle position of main body of selling goods 1, inductor 4 are placed on 5 lower section of picking storehouse.Camera is placed on the surface of touch display screen 3.

In the present embodiment, the article on shelf can also use cargo path other than being grabbed using picking gripper Form carry out cargo conveying, i.e., cargo is entered in picking storehouse 5 from higher position through cargo path.

After guest places an order, data are sent cloud database and handled by system, and cloud database will instruct while be sent to goods Cabinet and robot, robot reach picking machine picking after receiving instruction.Counter actively opens security door A after recognizing robot (artificially must inwardly open difference with traditional anti-theft door, this door is to control vertical/left and right by system to open), robot recognizes Storage storehouse is protruded into picking storehouse behind the entry position in picking storehouse, to antitheft inside robot vending equipment opening in place Door B goods putting, after cargo is put into storage storehouse, vending equipment closes internal security door B, and robot, which automatically retracts, to be stored Storehouse, counter close outside security door A.Cargo can also be sold when non-robot manipulation as normal selling apparatus to people.

Embodiment of above is only to illustrate the technical ideas and features of the present invention, and its object is to allow be familiar with this skill The people of art understands the content of the utility model and is implemented, and does not limit the protection scope of the present invention, and all According to the equivalent change or modification that the spirit of the present invention is substantially done, should all cover within the protection scope of the present utility model.

Claims

1. one kind can dock robot and the vending equipment of people, including main body of selling goods, it is provided with and puts in the main body of selling goods The shelf of placing articles, the picking storehouse for picking are provided with and can article be removed and be placed on from shelf in the main body of selling goods Picking gripper in picking storehouse；The controller being connected with picking gripper, the master that sells goods are provided in the main body of selling goods The touch display screen being connected with controller is provided on body；It is provided with the first entrance being connected to outside on the picking storehouse, supplies The second entrance of picking gripper placement article；It is characterized by: being provided in the main body of selling goods and cloud database, control The connected signal transceiver of device signal；The first access point is provided with the security door A can be vertical or moved left and right, for opening Or close first entrance；Security door B is provided at the second entrance, for opening or closing second entrance；The picking storehouse The close inductor of induction robot is provided in main body of selling goods where outside.

2. vending equipment according to claim 1, it is characterised in that: the two sides of the first entrance are symmetrically arranged with One group of sliding slot A, security door A are embedded in the sliding slot A, and motor A is provided in owner of cargo's body on sale, the driving of the motor A It is provided with driving wheel on axis, is connected between the driving wheel and the security door A by transmission belt, the motor A and controller It is connected.

3. vending equipment according to claim 2, it is characterised in that: the side of the security door B is provided with shaft On, the both ends of the shaft are mounted on by bearing block sells goods in main body, and one end of the shaft is by shaft coupling with motor B's Drive shaft is connected, and the motor B is connected with controller.

4. vending equipment according to claim 1, it is characterised in that: the bottom in the picking storehouse is provided with anti-skidding anti- Shake pad.

5. vending equipment according to claim 1, it is characterised in that: the front of the main body of selling goods has article exhibition Show that area, the article display area are electrical screen or shelf viewing area.

6. vending equipment according to claim 1, it is characterised in that: it is provided with mobile mechanism on the outside of the shelf, The mobile mechanism has to move along Z axis, X-direction, and the picking gripper is mounted in the mobile mechanism, so that picking Gripper can be moved along Z axis, X-direction.

7. vending equipment according to claim 6, it is characterised in that: the mobile mechanism includes vertical distribution in goods Have on longitudinal leadscrew the component A, the longitudinal leadscrew component A with driving motor at left and right sides of frame horizontal positioned with longitudinal direction Horizontal leading screw component B that sliding block on lead screw assembly A is connected, with driving motor, on the sliding block of the horizontal leading screw component B It is provided with the picking gripper.

8. vending equipment according to claim 6, it is characterised in that: the mobile mechanism includes being distributed horizontally to goods Frame up and down two sides horizontal leading screw the component B, the horizontal leading screw component B with driving motor on have be disposed vertically with transverse direction Longitudinal leadscrew component A that sliding block on lead screw assembly B is connected, with driving motor, on the sliding block of the longitudinal leadscrew component A It is provided with the picking gripper.

9. vending equipment according to claim 1, it is characterised in that: the two sides of the shelf are fixed on the master that sells goods On the two sides of body, the picking gripper is placed on the front end of shelf.

10. vending equipment according to claim 1, it is characterised in that: be provided with the dimension that replenishes in the main body of selling goods Repair door.