CN208861380U - A kind of goods taking device of automatic vending machine three-dimensional mechanical hand - Google Patents
A kind of goods taking device of automatic vending machine three-dimensional mechanical hand Download PDFInfo
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- CN208861380U CN208861380U CN201821838125.1U CN201821838125U CN208861380U CN 208861380 U CN208861380 U CN 208861380U CN 201821838125 U CN201821838125 U CN 201821838125U CN 208861380 U CN208861380 U CN 208861380U
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Abstract
The utility model is suitable for goods taking device technical field, provide a kind of goods taking device of automatic vending machine three-dimensional mechanical hand, including door frame, shifting apparatus is provided on door frame, shifting apparatus drives the movement done in x-axis direction on door frame by the first driving mechanism, it is provided on shifting apparatus and takes object basket, object basket is taken to do the movement on z-axis direction on shifting apparatus by the driving of the second driving mechanism, it takes and is provided with grating inductor in object basket, it takes object basket two sides to be provided with and takes object door and out object door, it takes to be provided on object basket bottom plate and unloads object component, unloading object component includes mounting plate, third motor and the first photoelectric sensor are fixedly installed on mounting plate, master gear is fixed on third motor output shaft, master gear is rotated by third motor driven, it unloads object component and the movement done on y-axis direction on taking object basket is driven by third driving mechanism, this is practical new Type increases the cargo range that can be bought, and can once take multiple cargos, increases the convenience that cargo is bought on automatic vending machine.
Description
Technical field
The utility model belongs to goods taking device technical field more particularly to a kind of picking of automatic vending machine three-dimensional mechanical hand
Device.
Background technique
Automatic vending machine is the machine that goods can be paid automatically according to the coin of investment；Dynamic vending machine is the common of business automation
Equipment, it is not limited by time, place, can be saved manpower, be facilitated transaction.It is a kind of completely new retailing form, and quilt
The referred to as micro supermarket of 24 HOUR ACCESS；The cargo of machine is directly to fall to take from shelf mostly after automatic selling currently on the market
At object mouth, such automatic vending machine can not buy frangible article, such as the article of glass bottle packaging, can put into
The cargo limitation of vending purchasing is big；And the automatic vending machine with goods taking device generally also can only once take a goods
Object.
Utility model content
The utility model provides a kind of goods taking device of automatic vending machine three-dimensional mechanical hand, it is intended to solve current automatic vending
Machine cargo limitation is big, the problem of once taking a cargo.
The utility model is realized in this way a kind of goods taking device of automatic vending machine three-dimensional mechanical hand, including door frame, institute
It states and is provided with shifting apparatus on door frame, the shifting apparatus drives the shifting done in x-axis direction on door frame by the first driving mechanism
Dynamic, first driving mechanism is fixed on door frame, is provided on the shifting apparatus and is taken object basket, described to take object basket by the
The movement on z-axis direction is done in the driving of two driving mechanisms on shifting apparatus, and second driving mechanism is fixed at transfer dress
It sets, first driving mechanism and the second driving mechanism are electrically connected controller, and described take is provided with grating induction in object basket
Device, the grating inductor are electrically connected controller, described to take object basket two sides to be provided with to take object door and out object door, described to take object door
Object door takes to be provided on object basket bottom plate and unloads object component respectively by first motor and the second motor driven rotating folding out, described
Unloading object component includes mounting plate, and third motor and the first photoelectric sensor, the third electricity are fixedly installed on the mounting plate
Machine and the first photoelectric sensor are electrically connected controller, are fixed with master gear, the master gear on the third motor output shaft
It being rotated by third motor driven, the object component that unloads is done on taking object basket movement on y-axis direction by the driving of third driving mechanism,
The third driving mechanism, which is fixed at, to be taken on object basket.
Further, it is provided with the first sliding rail described in the first sliding rail and the first synchronous pulley group on the door frame and shares two
Group is separately positioned in the two sides up and down of door frame；The first synchronous pulley group shares two groups, is separately positioned on the upper and lower of door frame
In two sides；The shifting apparatus upper and lower ends are provided with the first sliding block, and the first sliding block of shifting apparatus upper and lower ends is arranged in
Cooperate respectively with the first sliding rail for being arranged in door frame or more two sides, and shifting apparatus upper and lower ends are respectively with described in two groups first
The synchronous belt of synchronous pulley group is fixedly connected.
Further, first driving mechanism includes the 4th motor and shaft, the 4th electrical connection of motor control
Device processed, the 4th motor are fixed on doorframe, and the shaft is fixed in door frame side by bearing and bearing block, and described
Four motors are connect with rotating shaft transmission, the shaft upper and lower ends active synchronization wheel with the first synchronous pulley group described in two groups respectively
It is fixed.
Further, the second sliding rail and the second synchronous pulley group are provided on the shifting apparatus, it is described to take object basket one
Side is fixedly installed the second sliding block, and second sliding block and the second sliding rail cooperate, object basket and the second synchronous pulley group of taking
Synchronous belt is fixedly connected.
Further, second driving mechanism includes the 5th motor, the 5th electrical connection of motor controller, institute
The 5th electricity is stated to be fixed on shifting apparatus and the second synchronous pulley group that is sequentially connected.
Further, described to take object door and out object door and object basket is taken to be rotatablely connected, the first motor and the second motor
It is fixed to take on object basket bottom plate and be located at and takes object door and out object outer side of door, the first motor output shaft is fixedly connected
Object door is taken, second motor output shaft is fixedly connected with out object door.
Further, described take is provided with the first zero-bit contact induction device and the second zero-bit contact induction on object basket bottom plate
Device, the first zero-bit contact induction device and the second zero-bit contact induction device are electrically connected controller, the first zero-bit contact
Inductor, which is located at, takes object outer side of door, and the second zero-bit contact induction device is located at object outer side of door.
Further, the third driving mechanism includes fixed plate and electric cylinders, and the fixed plate, which is fixed at, takes object
On basket bottom plate, third sliding rail is provided in the fixed plate, the mounting plate bottom is fixedly installed third sliding block, third sliding block
Cooperate with the second sliding block, the electric cylinders are electrically connected controller, and the electric cylinders are fixed in fixed plate and electric cylinders extension end
It is fixedly connected with mounting plate.
Further, the third driving mechanism shares two groups, and third driving mechanism, which is separately fixed at, described in two groups takes
At left and right sides of object basket, the object component that unloads shares two groups, object component is unloaded described in two groups is separately positioned on and take at left and right sides of object basket simultaneously
The movement on y-axis direction is done in the driving of the third driving mechanism as described in two groups respectively on taking object basket.
The utility model has the beneficial effects that a kind of picking of automatic vending machine three-dimensional mechanical hand provided by the utility model fills
It sets, goods taking device can be moved to the shelf exit to picking, make that frangible article can be stored on shelf, and increasing can purchase
The cargo range bought, and multiple cargos can be once taken, increase the convenience of vending purchasing cargo.
Detailed description of the invention
Fig. 1 is a kind of goods taking device first angle signal of automatic vending machine three-dimensional mechanical hand provided by the utility model
Figure.
Fig. 2 is a kind of goods taking device second angle signal of automatic vending machine three-dimensional mechanical hand provided by the utility model
Figure.
Fig. 3 is that a kind of goods taking device of automatic vending machine three-dimensional mechanical hand provided by the utility model removes first after door frame
Angle schematic diagram.
Fig. 4 is enlarged drawing at A in Fig. 3 provided by the utility model.
Fig. 5 is that a kind of goods taking device of automatic vending machine three-dimensional mechanical hand provided by the utility model removes second after door frame
Angle schematic diagram.
Fig. 6 is third angle schematic diagram after a kind of automatic vending machine goods taking device removal door frame provided by the utility model.
Fig. 7 is a kind of automatic vending machine cross-sectional view provided by the utility model.
In figure: 100- door frame；The first sliding rail of 110-；120- the first synchronous pulley group；200- shifting apparatus；210- second is sliding
Rail；220- the second synchronous pulley group；300- takes object basket；310- grating inductor；320- takes object door；330- goes out object door；340-
One motor；The second motor of 350-；360- the first zero-bit contact induction device；370- the second zero-bit contact induction device；400- unloads object group
Part；410- mounting plate；420- third motor；The first photoelectric sensor of 430-；440- master gear；The first driving mechanism of 500-；
The 4th motor of 510-；520- shaft；The second driving mechanism of 600-；The 5th motor of 610-；700- third driving mechanism；710- is fixed
Plate；720- electric cylinders.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
Embodiment one
As shown in Fig. 1-Fig. 7, a kind of goods taking device of automatic vending machine three-dimensional mechanical hand, including door frame 100, door frame 100
On be provided with shifting apparatus 200, shifting apparatus 200 is driven by the first driving mechanism 500 and is done in x-axis direction on door frame 100
Mobile, i.e., under the driving effect of the first driving mechanism 500, shifting apparatus 200 can transverse shifting, the first drive on door frame 100
Motivation structure 500 is fixed on door frame 100, is provided on shifting apparatus 200 and is taken object basket 300, takes object basket 300 by the second driving
Mechanism 600 drives the movement done on z-axis direction on shifting apparatus 200, i.e., under the driving effect of the second driving mechanism 600,
Take object basket 300 that can move radially on shifting apparatus 200, the second driving mechanism 600 is fixed on shifting apparatus 200, the
One driving mechanism 500 and the second driving mechanism 600 are electrically connected controller, and controller is arranged on automatic vending machine (in figure not
Draw), it takes and is provided with grating inductor 310 in object basket 300, grating inductor 310 is electrically connected controller, grating inductor
310, for incuding take in object basket 300 whether have article, take 300 two sides of object basket to be provided with and take object door 320 and out object door 330, take object
Door 320 and out object door 330 drive rotating folding by first motor 340 and the second motor 350 respectively, take and set on 300 bottom plate of object basket
It is equipped with and unloads object component 400, unloading object component 400 includes mounting plate 410, and third motor 420 and the are fixedly installed on mounting plate 410
One photoelectric sensor 430, the first photoelectric sensor 430 are used for the position of precise positioning shelf, third motor 420 and the first photoelectricity
Inductor 430 is electrically connected controller, master gear 440 is fixed on 420 output shaft of third motor, master gear 400 is by third electricity
The driving rotation of machine 420 unloads object component 400 by third driving mechanism 700 and drives the movement done on y-axis direction on taking object basket 300,
I.e. under the driving of third driving mechanism 700, unloading object component 400 can be moved forward and backward on taking object basket 300, third driving mechanism
700 are fixed at and take on object basket 300；Transmission belt, several shelf exits are provided on several shelf of automatic vending machine
It is provided with from gear and the second photoelectric sensor, the second photoelectric sensor and controller are electrically connected, and cargo is placed on conveyer belt
On, the conveyer belt on several shelf is sequentially connected one by one with the slave gear that several shelf exits are arranged in, when master gear 440 with
After gear engagement, under the driving of third motor 420, master gear 440 drives from gear and rotates, to drive the biography on shelf
Dynamic band is rotated to shelf exit, and cargo follows the transmission belt on shelf to be moved to and falls from shelf.
In the utility model, the first sliding rail 110 and the first synchronous pulley group 120, the first sliding rail are provided on door frame 100
110 share two groups, are separately positioned in the two sides up and down of door frame 100；First synchronous pulley group 120 shares two groups, is respectively set
In the two sides up and down of door frame 100；200 upper and lower ends of shifting apparatus are provided with the first sliding block, are arranged on shifting apparatus 200
First sliding block at lower both ends cooperates with the first sliding rail 110 being arranged in about 100 two sides of door frame respectively, and shifting apparatus 200
Upper and lower ends are fixedly connected with the synchronous belt of two group of first synchronous pulley group 120 respectively, when the first synchronous pulley group 120 works,
Shifting apparatus 200 follows the synchronous belt of the first synchronous pulley group 120 mobile.
In the utility model, the first driving mechanism 500 includes the 4th motor 510 and shaft 520, and the 4th motor 510 is electrically
Controller is connected, the 4th motor 510 is fixed on doorframe 100, and shaft 110 is fixed on door frame 100 1 by bearing and bearing block
In side, the 4th motor 510 is sequentially connected with shaft 520,520 upper and lower ends of shaft respectively with two group of first synchronous pulley group 120
Active synchronization wheel fix, the 4th motor 510 drive shaft 520 rotate when, shaft 520 drive two group of first synchronous pulley group
120 work.
In the utility model, it is provided with the second sliding rail 210 and the second synchronous pulley group 220 on shifting apparatus 200, takes object basket
300 sides are fixedly installed the second sliding block, and the second sliding block and the second sliding rail 210 cooperate, and take object basket 300 and the second synchronous pulley group
220 synchronous belt is fixedly connected.
In the utility model, the second driving mechanism 600 includes the 5th motor 610, and the 5th motor 610 is electrically connected control
Device, the 5th motor 610 are fixed on shifting apparatus 200, the 5th motor 610 the second synchronous pulley group 220 of transmission connection, the
Output shaft drives the work of the second synchronous pulley group 220 when five motors 610 work.
In the utility model, takes object door 320 and out object door 330 and object basket 300 is taken to be rotatablely connected, first motor 340 and the
Two motors 350, which are fixed to take on 300 bottom plate of object basket and be located at, takes object door 320 and out 330 outside of object door, first motor
340 output shafts, which are fixedly connected, takes object door 320, and output shaft rotates when first motor 340 works, and takes object door 320 to rotate to drive,
Second motor, 350 output shaft is fixedly connected with out object door 330, and output shaft rotates when the second motor 350 works, to drive out object door
330 rotations.
In the utility model, takes and be provided with the first zero-bit contact induction device 360 and the contact of the second zero-bit on 300 bottom plate of object basket
Inductor 370, the first zero-bit contact induction device 360 and the second zero-bit contact induction device 370 are electrically connected controller, the first zero-bit
Contact induction device 360, which is located at, takes 320 outside of object door, when object door 320 being taken to be closed, the induction end of the first zero-bit contact induction device 360
It is contacted with object door 320 is taken, after taking object door 320 to drive rotating closed by first motor 340, takes the position of object door 320 to be at this time
Zero-bit, the first zero-bit contact induction device 360 send a signal to controller, and controller controls first motor 340 and keeps locked, that is, protects
The state not rotated is held, until controller assigns next instruction, the second zero-bit contact induction device 370 is located at outside object door 330
Side, when object door 330 is closed out, the induction end of the second zero-bit contact induction device 370 is contacted with object door 330 out, when object door 330 out by
Second motor 350 drive it is rotating closed after, at this time out the position of object door 330 be zero-bit, the second zero-bit contact induction device 370 send
To controller, controller controls the second motor 350 and keeps locked signal, that is, the state not rotated is kept, until controller is assigned
Next instruction.
In the utility model, third driving mechanism 700 includes fixed plate 710 and electric cylinders 720, and fixed plate 710 is fixedly installed
On taking 300 bottom plate of object basket, third sliding rail is provided in fixed plate 710,410 bottom of mounting plate is fixedly installed third sliding block,
Third sliding block and third sliding rail cooperate, and electric cylinders 720 are electrically connected controller, and electric cylinders 720 are fixed in fixed plate 710 and electricity
720 extension end of cylinder is fixedly connected with mounting plate 410, and extension end is released when electric cylinders 720 work, to push mounting plate 410 solid
It is slided on fixed board 710.
In the utility model, third driving mechanism 700 shares two groups, and two groups of third driving mechanisms 700 are separately fixed at and take
The left and right sides of object basket 300 unloads object component 400 and shares two groups, and two groups are unloaded object component 400 and are separately positioned on and take object basket 300 or so two
The movement on y-axis direction is simultaneously done by two groups of drivings of third driving mechanism 700 respectively in side on taking object basket 300, and setting is taking object basket
Object component 400 is unloaded for taking the cargo on automatic vending machine upper left portion shelf in 300 left sides, and setting is taking 300 right side of object basket
Unload object component 400 for taking cargo on the upper right part shelf of automatic vending machine.
Working principle of the utility model is: when any shelf on automatic vending machine need picking object, controller control the
The work of one driving mechanism 500, makes shifting apparatus 200 be moved to the position in specified x-axis direction；The second driving of controller control
Mechanism 600 works, and makes the position for taking object basket 300 to be moved on specified z-axis direction, in taking 300 moving process of object basket, first
The driving of motor 340 takes object door 320 to be rotated outwardly to opening state, is skewed when object door 320 being taken to open and takes 320 upper end of object door
On the outside of shelf exit；Take object basket 300 reach at picking object shelf when, if the first photoelectric sensor 430 not with set
The second photoelectric sensor docking in shelf exit is set, i.e., the first photoelectric sensor 430 is not sensed by the second photoelectric sensor
When, then x, z-axis position progress of the controller by the first driving mechanism 500 of control and the second driving mechanism 600 to object basket 300 is taken
Fine tuning, until the first photoelectric sensor 430 is docked with the second photoelectric sensor that shelf exit is arranged in, the first optoelectronic induction
After device 430 is docked with the second photoelectric sensor that shelf exit is arranged in, electric cylinders 720 are started to work, and will be pacified by extension end
Loading board 410 is pushed out to master gear 440 and engages with the slave gear in shelf exit, and third motor 420 drives master gear 440 to rotate,
It is engaged by master gear 440 with the slave gear in shelf exit, so that shelf be driven to be loaded with the conveyer belt rotation of cargo, makes goods
Object can be made by controlling the rotation of 420 output shaft of third motor along taking the rolling of object door 320 to fall to and take in object basket 300
Fall multiple cargos on same shelf, grating inductor 310 sense take in object basket 300 have cargo after send a signal to control
Device, the controller control driving of first motor 340 take the rotation of object door 320 to closure, after taking object door 320 to be closed, the contact of the first zero-bit
The induction end of inductor 360 contacts and sends a signal to controller with object door 320 is taken, and first motor 340 is made to keep locked；Control
Device makes the taking mouth for taking object basket 300 to be moved to automatic vending machine by the first driving mechanism 500 of control and the second driving mechanism 600
Place, is taking at taking mouth of the object basket 300 toward automatic vending machine in moving process, the second motor 350 drives out object door 330 to outward turning
Turn to open, after taking the cargo in object basket 300 to be removed, grating inductor 310, which senses, takes object basket 300 without sending letter after cargo
Number controller is given, controller makes to take object basket 300 and shifting apparatus 200 by the first driving mechanism 500 and the second driving mechanism 600
It is moved to initial position, i.e. zero-bit, in object basket 300 and shifting apparatus 200 into initial position moving process, the second motor
350 drive out object door 330 rotating closed, and the induction end of the second zero-bit contact induction device 370 sends letter after contacting with object door 330 out
Number controller is given, the second motor 350 is made to keep locked.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (9)
1. a kind of goods taking device of automatic vending machine three-dimensional mechanical hand, which is characterized in that including door frame, be provided on the door frame
Shifting apparatus, the shifting apparatus drive the movement done in x-axis direction on door frame, first driving by the first driving mechanism
Mechanism is fixed on door frame, is provided on the shifting apparatus and is taken object basket, described that object basket is taken to be driven by the second driving mechanism
The movement on z-axis direction is done on shifting apparatus, second driving mechanism is fixed on shifting apparatus, and described first drives
Motivation structure and the second driving mechanism are electrically connected controller, and described take is provided with grating inductor in object basket, the grating induction
Device is electrically connected controller, described to take object basket two sides to be provided with to take object door and out object door, it is described take object door and out object door respectively by
First motor and the second motor driven rotating folding take to be provided on object basket bottom plate and unload object component, and the object component that unloads includes peace
Loading board is fixedly installed third motor and the first photoelectric sensor, the third motor and the first light inductance on the mounting plate
It answers device to be electrically connected controller, is fixed with master gear on the third motor output shaft, the master gear is by third motor driven
Rotation, the object component that unloads are done on taking object basket movement on y-axis direction, the third driving machine by the driving of third driving mechanism
Structure, which is fixed at, to be taken on object basket.
2. a kind of goods taking device of automatic vending machine three-dimensional mechanical hand as described in claim 1, which is characterized in that the door frame
On be provided with the first sliding rail described in the first sliding rail and the first synchronous pulley group and share two groups, be separately positioned on the two sides up and down of door frame
It is interior；The first synchronous pulley group shares two groups, is separately positioned in the two sides up and down of door frame；The shifting apparatus upper and lower ends
Be provided with the first sliding block, be arranged in the first sliding block of shifting apparatus upper and lower ends respectively be arranged in door frame or more two sides
The cooperation of first sliding rail, and shifting apparatus upper and lower ends are fixedly connected with the synchronous belt of the first synchronous pulley group described in two groups respectively.
3. a kind of goods taking device of automatic vending machine three-dimensional mechanical hand as claimed in claim 2, which is characterized in that described first
Driving mechanism includes the 4th motor and shaft, the 4th electrical connection of motor controller, and the 4th motor is fixed on doorframe
On, the shaft is fixed in door frame side by bearing and bearing block, and the 4th motor is connect with rotating shaft transmission, and described turn
Active synchronization wheel of the axis upper and lower ends respectively with the first synchronous pulley group described in two groups is fixed.
4. a kind of goods taking device of automatic vending machine three-dimensional mechanical hand as described in claim 1, which is characterized in that the transfer
It is provided with the second sliding rail and the second synchronous pulley group on device, it is described that object basket side is taken to be fixedly installed the second sliding block, described
Two sliding blocks and the second sliding rail cooperate, described that object basket and the synchronous belt of the second synchronous pulley group is taken to be fixedly connected.
5. a kind of goods taking device of automatic vending machine three-dimensional mechanical hand as claimed in claim 4, which is characterized in that described second
Driving mechanism includes the 5th motor, the 5th electrical connection of motor controller, and the 5th electricity is fixed at shifting apparatus
Upper and the second synchronous pulley group of transmission connection.
6. a kind of goods taking device of automatic vending machine three-dimensional mechanical hand as described in claim 1, which is characterized in that described to take object
Door and out object door are rotatablely connected with object basket is taken, and the first motor and the second motor are fixed at and take on object basket bottom plate and distinguish
Positioned at object door and out object outer side of door is taken, the first motor output shaft, which is fixedly connected, takes object door, and second motor output shaft is solid
Object door is connected out calmly.
7. a kind of goods taking device of automatic vending machine three-dimensional mechanical hand as claimed in claim 6, which is characterized in that described to take object
Be provided with the first zero-bit contact induction device and the second zero-bit contact induction device on basket bottom plate, the first zero-bit contact induction device and
Second zero-bit contact induction device is electrically connected controller, and the first zero-bit contact induction device, which is located at, takes object outer side of door, and described the
Two zero-bit contact induction devices are located at object outer side of door.
8. a kind of goods taking device of automatic vending machine three-dimensional mechanical hand as described in claim 1, which is characterized in that the third
Driving mechanism includes fixed plate and electric cylinders, and the fixed plate, which is fixed at, to be taken on object basket bottom plate, is provided in the fixed plate
Third sliding rail, the mounting plate bottom are fixedly installed third sliding block, and third sliding block and the second sliding block cooperate, and the electric cylinders are electrical
Controller is connected, the electric cylinders are fixed in fixed plate and electric cylinders extension end is fixedly connected with mounting plate.
9. a kind of goods taking device of automatic vending machine three-dimensional mechanical hand as claimed in claim 8, which is characterized in that the third
Driving mechanism shares two groups, and third driving mechanism described in two groups, which is separately fixed at, to be taken at left and right sides of object basket, and the object component that unloads is total to
There are two groups, object component is unloaded described in two groups is separately positioned on and take at left and right sides of object basket and the third driving mechanism as described in two groups is driven respectively
Move the movement done on y-axis direction on taking object basket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821838125.1U CN208861380U (en) | 2018-11-08 | 2018-11-08 | A kind of goods taking device of automatic vending machine three-dimensional mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821838125.1U CN208861380U (en) | 2018-11-08 | 2018-11-08 | A kind of goods taking device of automatic vending machine three-dimensional mechanical hand |
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| CN208861380U true CN208861380U (en) | 2019-05-14 |
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| CN201821838125.1U Active CN208861380U (en) | 2018-11-08 | 2018-11-08 | A kind of goods taking device of automatic vending machine three-dimensional mechanical hand |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109377651A (en) * | 2018-11-08 | 2019-02-22 | 东莞市势为物联网科技有限公司 | A kind of goods taking device of automatic vending machine three-dimensional mechanical hand |
| CN110349332A (en) * | 2019-07-11 | 2019-10-18 | 北京机械设备研究所 | A kind of shopping processing system and goods sorting method |
| CN109377651B (en) * | 2018-11-08 | 2024-11-05 | 江西河红茶业有限公司 | Goods taking device of three-dimensional manipulator of vending machine |
-
2018
- 2018-11-08 CN CN201821838125.1U patent/CN208861380U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109377651A (en) * | 2018-11-08 | 2019-02-22 | 东莞市势为物联网科技有限公司 | A kind of goods taking device of automatic vending machine three-dimensional mechanical hand |
| CN109377651B (en) * | 2018-11-08 | 2024-11-05 | 江西河红茶业有限公司 | Goods taking device of three-dimensional manipulator of vending machine |
| CN110349332A (en) * | 2019-07-11 | 2019-10-18 | 北京机械设备研究所 | A kind of shopping processing system and goods sorting method |
| CN110349332B (en) * | 2019-07-11 | 2022-03-01 | 北京机械设备研究所 | Shopping processing system and goods sorting method |
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