CN209486796U - A kind of selling system - Google Patents

Abstract

The utility model relates to automatic vending technical fields, disclose a kind of selling system.The selling system includes rack, further includes: kinds of goods platform is set in rack, is configured as accommodating kinds of goods, including at least one in drink device and kinds of goods shelf；Turntable is delivered, in rack, delivering turntable can switch rotary setting between kinds of goods configuration bit and kinds of goods delivering position；Manipulator is set in rack, is configured to grab kinds of goods from kinds of goods platform, and kinds of goods are placed on the delivering turntable on kinds of goods configuration bit.The utility model, which can be realized, is automatically sent into kinds of goods on the delivering turntable on kinds of goods configuration bit by kinds of goods platform, and pass through delivering turntable rotation, the kinds of goods for being located at kinds of goods configuration bit on turntable will be delivered and be delivered to kinds of goods delivering position, delivery functions are steady, user can deliver from kinds of goods and take out kinds of goods on the delivering turntable on position, user executes movement in different regions from manipulator, and the security risk of selling system is low.

Description

A kind of selling system

Technical field

The utility model relates to automatic vending technical field more particularly to a kind of selling systems.

Background technique

Kinds of goods channel that is vertical or being obliquely installed is generally included in existing selling system, kinds of goods can be under the effect of gravity High-end by kinds of goods channel tumbles to the low side in kinds of goods channel, and user protrudes into selling system, and is taken out by the low side in kinds of goods channel Kinds of goods, this mode are only applicable to have selling for seal-packed flexible material class kinds of goods, can not adapt to increasingly developed sell Sell demand.Therefore, part of the manufacturer to solve this problem, kinds of goods channel is changed to be horizontally disposed with, and is filled by manipulator or transmission It sets and kinds of goods is sent into kinds of goods channel, user protrudes into kinds of goods channel and takes out kinds of goods, at this point, what user needed to act in manipulator execution Kinds of goods are taken out in region, and there are security risks.

Utility model content

Based on the above, the purpose of this utility model is to provide a kind of selling system, the security risks of selling system It is low.

In order to achieve the above object, the utility model uses following technical scheme:

A kind of selling system, including rack, further includes: kinds of goods platform is set in the rack, is configured as accommodating goods Product, including at least one in drink device and kinds of goods shelf；Turntable is delivered, rotary setting is in the rack, the delivering Turntable can switch between kinds of goods configuration bit and kinds of goods delivering position；And manipulator, it is set in the rack, is configured to It is enough to grab kinds of goods from the kinds of goods platform, and kinds of goods are placed on the delivering turntable on the kinds of goods configuration bit.

Preferred embodiment as a kind of selling system, further includes: first sensor is configured as detecting the kinds of goods configuration It whether there is kinds of goods on position；And second sensor, it is configured as detecting on kinds of goods delivering position with the presence or absence of kinds of goods.

As a kind of preferred embodiment of selling system, the manipulator includes mechanical arm and clamping jaw, and the clamping jaw is configured To grab kinds of goods, the mechanical arm is configured as that the clamping jaw is driven to move between the kinds of goods platform and the kinds of goods configuration bit It is dynamic.

As a kind of preferred embodiment of selling system, the clamping jaw includes clamping jaw ontology and two fixture blocks being oppositely arranged, Two fixture blocks are arranged at intervals on the clamping jaw ontology, and two fixture blocks can move toward one another or backwards to movement.

As a kind of preferred embodiment of selling system, the drink device includes: beverage machine, is provided with drink outlet, institute Beverage machine is stated to be configured as making and export drink；And cup lowering device, it is configurable for accommodating multiple cups, cup is configured as It can be taken out by the cup lowering device, and pick up drink in the lower section of drink outlet, the cup for filling drink forms kinds of goods.

As a kind of preferred embodiment of selling system, the drink device further includes 3rd sensor, the third sensing Device is configured as detecting the underface of the drink outlet with the presence or absence of cup.

As a kind of preferred embodiment of selling system, the kinds of goods shelf includes shelf, and the shelf is obliquely installed, described Shelf is configurable for supporting multiple kinds of goods, and the clipping port with manipulator cooperation, institute are provided on front side of the shelf State the low side that clipping port is located at the shelf.

As a kind of preferred embodiment of selling system, the shelf is arranged in parallel with multiple, and multiple shelves are along vertical The setting of direction interval.

It further include shell as a kind of preferred embodiment of selling system, the jacket is set to the outside of the rack, institute It states shell and is provided with pass-through, the delivering turntable passes through the pass-through, and the kinds of goods configuration bit is set to the shell Inside, kinds of goods delivering position are set to the outside of the shell.

As a kind of preferred embodiment of selling system, it is fixedly installed partition on the upper surface of the delivering turntable, it is described The delivering turntable is divided into two parts by partition, and the partition is configured as when the delivering turntable rotates, it is described every Plate and the shell are angled to open the pass-through, and when the delivering turntable is static, the partition and the shell are total Face is to close the pass-through.

As a kind of preferred embodiment of selling system, the shell is made of transparent material, and the selling system also wraps Electrical screen is included, the electrical screen is set in the rack.

The utility model has the following beneficial effects:

The utility model supports selling system by setting rack；By the way that kinds of goods platform is arranged on the rack, kinds of goods are formed Accommodation space；By the way that delivering turntable is arranged on the rack, a part for delivering turntable is located at kinds of goods configuration bit, delivers the another of turntable A part is located at kinds of goods and delivers position, and delivering turntable can rotate, to switch between kinds of goods configuration bit and kinds of goods delivering position, and will The kinds of goods for being located at kinds of goods configuration bit on delivering turntable are delivered to kinds of goods delivering position, and delivery functions are steady；It, will by the way that manipulator is arranged Kinds of goods are sent on the delivering turntable on kinds of goods configuration bit by kinds of goods platform, and user can deliver from kinds of goods to be taken on the delivering turntable on position Kinds of goods out, user execute movement in different regions from manipulator, and security risk is low.

Detailed description of the invention

It, below will be to the utility model embodiment in order to illustrate more clearly of the technical scheme in the embodiment of the utility model Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new Some embodiments of type for those of ordinary skill in the art without creative efforts, can be with root Other attached drawings are obtained according to the content of the utility model embodiment and these attached drawings.

Fig. 1 is the perspective view of selling system provided by the utility model；

Fig. 2 is the top view of selling system provided by the utility model；

Fig. 3 is the perspective view of delivering turntable provided by the utility model；

Fig. 4 is the removal fixed pedestal of delivering turntable provided by the utility model with the bottom view of external structure；

Fig. 5 is the top view of fixed pedestal provided by the utility model；

Fig. 6 is the perspective view of drink device provided by the utility model；

Fig. 7 is the main view of kinds of goods shelf provided by the utility model；

Fig. 8 is the perspective view of vertical plate provided by the utility model Yu shelf assembled relation；

Fig. 9 is the rearview of kinds of goods shelf provided by the utility model；

Figure 10 is the perspective view of clamping jaw provided by the utility model.

In figure:

1- rack；2- drink device, 21- beverage machine, the outlet of 211- drink, 212- antistaling box, 22- cup lowering device, 221- glasss Cylinder, 222- cup holder, 223- dustproof cover；3- kinds of goods shelf, 31- vertical plate, 311- card slot, 32- shelf, 321- clipping port, 322- card It is convex, 33- front panel, 34- rear panel, 341- drain hole；4- delivering turntable, 41- fixed pedestal, 42- partition, 43- sight vane, The position 441- baffle, 442- emission sensor, 451- electromagnetic lock, 452- lockhole；5- manipulator, 51- mechanical arm, 52- clamping jaw, 521- clamping jaw ontology, 522- fixture block, 522a- soft layer, 522b- hard layer；6- electrical screen；71- first sensor, 72- second Sensor；

P- kinds of goods configuration bit, D- kinds of goods deliver position.

Specific embodiment

The technical issues of to solve the utility model, the technical solution of use and the technical effect that reaches are clearer, It is described in further detail below in conjunction with technical solution of the attached drawing to the utility model embodiment, it is clear that described reality Applying example is only the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, It is practical new to belong to this for those skilled in the art's every other embodiment obtained without creative efforts The range of type protection.

In the description of the present invention, it should be noted that term " on ", "lower", "left", "right", "vertical", " water It is flat ", "inner", the instructions such as "outside" orientation or positional relationship be to be based on the orientation or positional relationship shown in the drawings or the reality With novel product using when the orientation or positional relationship usually put, be merely for convenience of description the utility model and simplification retouched It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, Therefore it should not be understood as limiting the present invention.It is retouched in addition, term " first ", " second ", " third " etc. are only used for distinguishing It states, is not understood to indicate or imply relative importance.In the description of the present invention, unless otherwise indicated, " multiple " It is meant that two or more.

In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, term " is set Set ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can To be mechanical connection, it is also possible to be electrically connected.For the ordinary skill in the art, can be understood with concrete condition above-mentioned The concrete meaning of term in the present invention.

The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng The embodiment for examining attached drawing description is exemplary, and is only used for explaining the utility model, and should not be understood as to the utility model Limitation.

As shown in Figure 1, the present embodiment provides a kind of selling system, including rack 1, rack 1 can play a supporting role.Machine Pedestal has can be set in the bottom of frame 1, and pedestal is used to adjust the height of rack 1.Kinds of goods platform and manipulator are additionally provided in rack 1 5, kinds of goods platform be configurable for accommodate kinds of goods, manipulator 5 be configured to by kinds of goods platform grab kinds of goods, and by kinds of goods send to Specified region.

Selling system can also include shell, and shell can cover at the outside of rack 1, accommodate rack 1 and be set to machine Structure on frame 1 realizes separation inside selling system and external.Shell can be made of transparent material, facilitate user and Staff intuitively observes the working condition of selling system.Specifically, shell can choose tempered glass, and tempered glass has Transparency is high, the advantages such as intensity height.

In the prior art, selling system is provided with kinds of goods channel for part, and kinds of goods are sent into kinds of goods channel, user by manipulator 5 It protrudes into kinds of goods channel and takes out kinds of goods, user needs to take out kinds of goods in the region that 5 execution of manipulator acts, and there are security risks.For Solve the problems, such as this, selling system can also include delivering turntable 4, deliver turntable 4 rotary setting in rack 1.Such as Fig. 2 institute Show, delivers and kinds of goods configuration bit P and kinds of goods delivering position D can be set in the rotating path of turntable 4, deliver a part of turntable 4 Positioned at kinds of goods configuration bit P, the another part for delivering turntable 4 is located at kinds of goods delivering position D.Delivering turntable 4 can rotate, in kinds of goods Switches between configuration bit P and kinds of goods delivering position D, and the kinds of goods delivered on turntable 4 positioned at kinds of goods configuration bit P are delivered to kinds of goods and pass A D is sent, delivery functions are steady.Kinds of goods can be sent on the delivering turntable 4 on kinds of goods configuration bit P by manipulator 5 by kinds of goods platform, be used The delivering turntable 4 that family can be delivered on the D of position by kinds of goods takes out kinds of goods, and user executes movement in different regions from manipulator 5, Security risk is lower.

In order to which further decrease user takes object difficulty, and further decrease the risk of user and transmission device collision.Goods Product configuration bit P can be set in the inside of shell, and kinds of goods delivering position D can be set in the outside of shell, and manipulator 5 is in shell Movement is executed, user can take kinds of goods away by the delivering turntable 4 being located on the kinds of goods delivering position D of hull outside.Specifically, outer Pass-through has can be set in shell, and delivering turntable 4 passes through pass-through, and is located at the downside of pass-through, so that delivering turntable 4 rotates When, kinds of goods can pass through shell by pass-through, be delivered to the outside of shell.As shown in figure 3, can also be set on the downside of delivering turntable 4 It is equipped with fixed pedestal 41, fixed pedestal 41 is fixedly connected in rack 1, and the delivering rotation of turntable 4 is connected on fixed pedestal 41.For The rotation for realizing delivering turntable 4, is provided on fixed pedestal 41 rotary drive mechanism, and rotary drive mechanism is preferably electricity The motor shaft of machine, motor is fixedly connected with delivering turntable 4, and under the drive of the motor, delivering turntable 4 can rotate.Delivering Turntable 4 can be round tray, and round tray will not change shape in rotary course, this can make space utilization engaged therewith Rate is high.Certainly in other embodiments, delivering turntable 4 can also be the pallet of other shapes, such as rectangular, oval etc..

The upper surface of delivering turntable 4 can be fixedly installed partition 42, and delivering turntable 4 can be divided into two by partition 42 Part, two parts separated by partition 42 are located at kinds of goods configuration bit P and kinds of goods delivering position D, that is, are located at the two sides of shell, It delivers turntable 4 and rotates 180 degree every time, so that delivering turntable 4 switches between kinds of goods configuration bit P and kinds of goods delivering position D, by position It rotates in the part in shell to outer side of shell, delivering turntable 4 is located at the part outside shell and rotates to shell.42 quilt of partition It being configured to when delivering the rotation of turntable 4, partition 42 and shell are angled to open pass-through, when delivering turntable 4 is static, partition 42 is coplanar with shell to close pass-through.By the way that partition 42 is arranged, delivering turntable 4 can be divided into mutually separated two Point, with further avoid user accidentally pass through delivering turntable 4 top extend to kinds of goods configuration bit P, to reduce security risk.At it In his embodiment, multiple partitions 42 are may also set up, multiple partitions 42 can be radially arranged on delivering turntable 4, will Delivering turntable 4 is divided into multiple portions, and at least one portion is located at kinds of goods delivering position D, is set to the outside of shell, other parts Positioned at kinds of goods configuration bit P, it is set to the inside of shell.

In order to improve the success rate of selling system, as shown in fig. 4-5, selling system can also include first sensor 71, first sensor 71 is configured as on detection kinds of goods configuration bit P with the presence or absence of kinds of goods, when manipulator 5 send kinds of goods to kinds of goods When configuration bit P, first sensor 71 can emit detection signal.By detect positioned at kinds of goods configuration bit P delivering turntable 4 on or It whether there is kinds of goods in the manipulator 5 of kinds of goods configuration bit P, it is ensured that kinds of goods can be put into delivering turntable 4, and raising, which is sold, is The success rate of system.In order to further increase the security performance of selling system, selling system can also include second sensor 72, the Two sensors 72 are configured as on detection kinds of goods delivering position D with the presence or absence of kinds of goods, when the delivering that user is located at kinds of goods delivering position D turns When disk 4 takes out kinds of goods, second sensor 72 can emit detection signal, so that it is guaranteed that user takes kinds of goods away by delivering turntable 4, and The kinds of goods delivering region position D has been left, the collision of user and selling system has been further avoided, reduces security risk.

Specifically, first sensor 71 and second sensor 72 can choose infrared sensor, and infrared sensor can Non-contact detecting is carried out, and is able to detect within the scope of certain distance with the presence or absence of kinds of goods.First sensor 71 and second sensor 72 can symmetrically be fixedly installed on fixed pedestal 41, and the upper of delivering turntable 4 is symmetrical arranged there are two sight vane 43.When delivering turns When disk 4 is static, first sensor 71 and 43 face of sight vane are arranged, second sensor 72 and another 43 face of sight vane Setting.When having kinds of goods above sight vane 43, the light of infrared sensor transmitting can be located at the goods of 43 top of sight vane Product reflection, infrared sensor receive reflection signal, and with judgement delivering turntable 4 and its top, there are kinds of goods, to realize that first passes The detection function of sensor 71 and second sensor 72.Illustratively, infrared sensor can choose Omron model E3Z-D61 type Sensor, certainly, other reflection sensors that can be realized this function can be used.

In order to detect the rotation status of delivering turntable 4, delivering turntable 4 further includes position detecting mechanism, position detecting mechanism It is configured to obtain the location information that delivering turntable 4 rotates.Position detecting mechanism includes that position baffle 441 and correlation pass Sensor 442, position baffle 441 are fixed on delivering turntable 4, and emission sensor 442 is arranged on fixed pedestal 41, right Penetrating formula sensor 442 includes the transmitting terminal being oppositely arranged and receiving end.When delivering turntable 4 and rotating, position baffle 441 can be from Pass through between the transmitting terminal and receiving end of emission sensor 442.When transmitting terminal issue light blocked by position baffle 441, When receiving end can not receive light, it can judgement delivering turntable 4 has been rotated into target position.

In order to guarantee to deliver stability of the turntable 4 when static, delivering turntable 4 further includes lockable mechanism, lockable mechanism quilt Be configured to control fixed pedestal 41 and deliver turntable 4 it is sealed or unlock, with limit or allow delivering turntable 4 rotate.Lock Locking mechanism includes electromagnetic lock 451 and lockhole 452, and electromagnetic lock 451 is arranged on fixed pedestal 41, and the setting of lockhole 452 turns in delivering On disk 4, the lock tongue of electromagnetic lock 451 is inserted into lockhole 452, is rotated with limitation delivering turntable 4 relative to fixed pedestal 41.Electromagnetism When the lock tongue of lock 451 retracts, rotated with allowing to deliver turntable 4 relative to fixed pedestal 41.

Kinds of goods platform can accommodate kinds of goods, and kinds of goods platform can need to include in drink device 2 and kinds of goods shelf 3 according to selling One or two.In the present embodiment, selling system had both been provided with drink device 2, to sell the drink made immediately, was also equipped with Kinds of goods shelf 3, to sell finished product kinds of goods.

Wherein, as shown in fig. 6, drink device 2 may include beverage machine 21 and cup lowering device 22.Cup lowering device 22 is configured as using In the multiple cups of receiving.Cup lowering device 22 can be set it is multiple, to accommodate different types of cup.Beverage machine 21 is configured as making Make and export drink, drink outlet 211 can be set, beverage machine 21 passes through 211 output drink of drink outlet.Cup can be by Cup lowering device 22 takes out, and picks up drink in the lower section of drink outlet 211, and the cup for filling drink forms kinds of goods.Beverage machine 21 is also It may include antistaling box 212, the raw material apt to deteriorate such as milk is stored in antistaling box 212, guarantees food safety.

Exist partially if manipulator 5 fails in time to place cup to the placement location of the lower section of drink outlet 211 or cup Difference, drink can not be fallen into cup, will cause the waste of drink, pollute rack 1, and drink is also possible to splash to manipulator 5, cause The damage of manipulator 5.In order to solve this problem, drink device 2 further includes 3rd sensor, and 3rd sensor is configured as examining The underface for surveying drink outlet 211 whether there is cup, so that it is guaranteed that drink can be fallen into cup.3rd sensor can be selected Select infrared sensor, 3rd sensor can be set on beverage machine 21, and be located at the downside of drink outlet 211.

In order to avoid drink outlet 211 and the difference in height of cup cause drink to splash, the height of drink outlet 211 is adjustable. Manipulator 5 puts cup to the underface of drink outlet 211, and drink outlet 211 is moved downwards, until drink outlet 211 The slightly above upper edge of cup reduces drink and splashes, and avoids drink pollution rack 1 and manipulator 5.After the completion of one glass of drink output, Drink outlet 211 is moved upward, and manipulator 5 is facilitated to take cup away.It is adjustable by 211 height of drink outlet, it can also improve The versatility of 21 main body of beverage machine.Specifically, drink outlet 211 can be slideably positioned in along the vertical direction on beverage machine 21, To adjust the height of drink outlet 211.

Cup lowering device 22 includes the cup cylinder 221 and cup holder 222 for accommodating cup, and cup cylinder 221 includes cup cylinder entrance and cup cylinder Outlet, cup holder 222 include that cup holder entrance and cup holder export, and the outlet of cup cylinder is connect with cup holder entrance.Multiple cups are stacked at cup cylinder In 221, and 222 position of cup holder is fallen to naturally by gravity, cup holder outlet is provided with elastic card claw, and elastic card claw is matched It is set to for blocking cup, prevents cup from dropping out cup tube 221 under the effect of gravity.Elastic card claw can deform, so that cup exists It can be detached from from elastic card claw under external force, manipulator 5 is facilitated to take cup away by cup holder outlet.

Circumferential direction along cup holder outlet can be set there are three or four elastic card claws, ensuring that cup is capable of uniform stressed Meanwhile also avoiding elastic card claw quantity excessively causes cup to take out difficult problem.In addition, elastic card claw is also provided with the 4th Sensor, the 4th sensor can be pressure sensor, and whether the 4th sensor is able to detect on elastic card claw with the presence of cup, To remind staff to supplement cup by cup cylinder entrance in time.

Cup cylinder entrance be also provided with dustproof cover 223, avoid dust from polluting the cup in cup cylinder 221 and can not It uses.Dustproof cover 223 can be rotationally connected with the top of cup cylinder 221, realize opening for cup cylinder entrance by the rotation of dustproof cover 223 It closes, it is easy to operate.Rubber ring can also be arranged on dustproof cover 223, the outer diameter of rubber ring can be interior slightly larger than cup cylinder entrance Diameter, to further function as the effect of barrier dust.

As shown in fig. 7, kinds of goods shelf 3 can be used for accommodating book for accommodating kinds of goods, kinds of goods shelf 3, bookshelf is formed, it can also It can be with the kinds of goods of direct marketing to accommodate other.Kinds of goods shelf 3 includes shelf 32, and shelf 32 is configurable for supporting multiple goods Product.Kinds of goods shelf 3 can also include supporting element, and supporting element can be provided vertically with the both ends of supporting shelf 32 for shelf 32 The support in direction.Supporting element can be frame structure, and frame structure has that the processing is simple, the advantages such as light；It may be plate Structure prevents dust from entering kinds of goods shelf 3.Specifically, the vertical plate 31 that supporting element can be vertically arranged, vertical plate 31 can be set At least two are equipped with, two neighboring vertical plate 31 is oppositely arranged, and shelf 32 is set between two neighboring vertical plate 31.

In the prior art, manipulator 5 needs to move to each position clamping kinds of goods of shelf 32, and 5 stroke of manipulator is complicated. In order to solve this problem, shelf 32 is obliquely installed, so that kinds of goods can be slided along shelf 32.Specifically, the height of shelf 32 End can be set in a vertical plate 31, and the low side of shelf 32 can be set in another vertical plate 31.Manipulator 5 can be put by close The position of the low side of plate 32 takes kinds of goods away, and the kinds of goods not being removed on other shelves 32 can be slided along shelf 32, bottom After kinds of goods slide into the low side of shelf 32, manipulator 5 can take kinds of goods away by the same position again, with realize manipulator 5 by The same position continuously clamps kinds of goods.The kinds of goods on shelf 32 are slid by the low side of shelf 32 in order to prevent, the low side of shelf 32 It is provided with abutting part, abutting part can be abutted with kinds of goods.Specifically, vertical plate 31 can be abutted with the low side of shelf 32 to be formed Abutting part.

In addition, in the prior art, manipulator 5 usually requires to extend to clamp kinds of goods above shelf 32.The movement of manipulator 5 is multiple It is miscellaneous, and need to reserve the movable space of manipulator 5 above shelf 32, the utilization rate of kinds of goods shelf 3 is low.It is asked to solve this It inscribes, clipping port 321 is additionally provided on shelf 32, clipping port 321 is located at kinds of goods shelf 3 close to the side of manipulator 5, retouches for simplification State, using kinds of goods shelf 3 close to the side of manipulator 5 as front side, using kinds of goods shelf 3 away from manipulator 5 side as rear side.Clamping Mouth 321 is set to the front side of shelf 32, and is arranged close to the low side of shelf 32.Specifically, 32 top of clipping port 321 and shelf Kinds of goods positioned at lower side are oppositely arranged.The center of clipping port 321 towards shelf 32 is recessed, and manipulator 5 can extend into clipping port 321, it is accommodated by the front side of kinds of goods shelf 3 and takes out kinds of goods.Manipulator 5 is without extending to 32 top of shelf, 3 structure of kinds of goods shelf Compact, utilization rate is high.

Kinds of goods shelf 3 can be arranged in parallel with multiple shelves 32, and multiple shelves 32 are spaced setting along the vertical direction, with storage More kinds of goods.Different kinds of goods can be stored on different shelves 32, it is two neighboring since different kinds of goods sizes has differences The problem that the spacing fixation of shelf 32 can bring kinds of goods to be difficult to store or space utilization rate is not high.Therefore, shelf 32 is in vertical side It is adjustably set between two neighboring vertical plate 31, is put with the size selection shelf 32 preferably according to kinds of goods in kinds of goods upwards Height in frame 3.

As shown in figure 8, shelf 32 can be arranged between two adjacent vertical plates 31 by way of clamping.Vertical plate 31 is along perpendicular To that can be arranged at intervals with multiple card slots 311 card convex 322 has can be set, card convex 322 is matched with card slot 311 in histogram on shelf 32 Close, shelf 32 is detachably arranged on vertical plate 31, card convex 322 be inserted into different card slots 311 with adjust shelf 32 in Height in kinds of goods shelf 3, the processing is simple with vertical plate 31 for shelf 32,3 low cost of kinds of goods shelf.Multiple card slots 311 can be along perpendicular The spacing of two neighboring card slot 311 can also be rationally arranged to being uniformly arranged in histogram according to concrete application.Card slot 311 and card convex Without limitation, as long as meeting card convex 322 is inserted into card slot 311, the structure for the clamping both realized can be by for 322 shape Using.

With continued reference to Fig. 7, in order to further increase the amount of storage of kinds of goods shelf 3, vertical plate 31 can be set it is multiple, to set Set multiple row shelf 32.Two column have can be set in shelf 32, and adjacent one end of two column shelves 32 is low side, and two column shelves, 32 approximation is in V-shape so that the clipping port 321 of two column shelves 32 be arranged it is compact, facilitate manipulator 5 clamp kinds of goods, reduce manipulator 5 row Journey.

If kinds of goods are insufficient in kinds of goods shelf 3, the normal work of access system will affect.Therefore, kinds of goods shelf 3 can also wrap The 5th sensor is included, the 5th sensor is set on shelf 32, is configured as on detection shelf 32 being not necessarily to work with the presence or absence of kinds of goods Make the inventories that personnel frequently check kinds of goods in kinds of goods shelf 3, and can be mended in time into kinds of goods shelf 3 when kinds of goods deficiency It fills.5th sensor can choose pressure sensor, and pressure sensor can be set in abutting part, be put by detection pressure judgement It is that there are kinds of goods on plate 32.Specifically, the kinds of goods of bottom can compress the 5th sensor on shelf 32.Work as bottom Kinds of goods taken away by manipulator 5 after, the kinds of goods that other are not removed on shelf 32 can slide along shelf 32, so that bottom Kinds of goods slide into the low side of shelf 32, and compress the 5th sensor.When not having kinds of goods on shelf 32, the 5th sensor is loose It opens, to emit detection signal, staff is notified to replenish.5th sensor can be set in the upper table of the low side of shelf 32 Face facilitates the detection of pressure.

With continued reference to Fig. 1, kinds of goods shelf 3 can also include front panel 33, and front panel 33 is set to the front side of shelf 32, prevent Only kinds of goods are slid by the front side of shelf 32.Material taking mouth is provided on front panel 33, the diameter of material taking mouth is greater than the diameter of kinds of goods, takes Material mouth is oppositely arranged with clipping port 321, and manipulator 5 is facilitated to protrude into kinds of goods shelf 3 by material taking mouth, clamps kinds of goods by clipping port 321, Kinds of goods shelf 3 is stretched out by material taking mouth again.Front panel 33 and material taking mouth can also be customized to different shapes according to the hobby of user Shape realizes personalized designs.Referring to Fig. 9, kinds of goods shelf 3 can also include rear panel 34, and rear panel 34 is set to shelf 32 Rear side prevents kinds of goods from being slid by the rear side of shelf 32.Drain hole 341 is provided on rear panel 34, drain hole 341 is close to shelf 32 High-end setting, when kinds of goods deficiency, kinds of goods are supplemented to kinds of goods shelf 3 by drain hole 341 on shelf 32.Kinds of goods shelf 3 It can also include outline border, vertical plate 31 and shelf 32 are all set in the inside of outline border, and outline border can provide support, and energy for vertical plate 31 Dust is enough avoided to enter kinds of goods shelf 3.It is also provided with light bar on kinds of goods shelf 3, provides lighting effects for kinds of goods shelf 3, Play the role of illumination, decoration.Specifically, being provided with light bar slot on outline border, light bar is set in light bar slot, and light bar can It is fixed on kinds of goods shelf 3 by ground.

Manipulator 5 may include mechanical arm 51 and clamping jaw 52, and clamping jaw 52 is set to one end of mechanical arm 51, and clamping jaw 52 is matched Crawl kinds of goods are set to, it is mobile in the inside of shell that mechanical arm 51 is configured as driving clamping jaw 52.In order to facilitate the installation of manipulator 5 Fixed, manipulator 5 can also include pedestal, and pedestal is fixedly installed in rack 1, and mechanical arm 51 is fixed far from one end of clamping jaw 52 In on pedestal.Mechanical arm 51 can choose six shaft mechanical arms, and six shaft mechanical arms can be translatable and rotation in its stroke range, with Drive any point in clamping jaw 52 to its stroke range and any rotation.Clamping jaw 52 can execute clamping and unclamp dynamic Make, clamping jaw 52 and six shaft mechanical arms cooperate, and complete clamping, delivering and the placement movement of kinds of goods.

Specifically, as shown in Figure 10, clamping jaw 52 includes clamping jaw ontology 521 and two fixture blocks 522 being oppositely arranged, two Fixture block 522 is arranged at intervals on clamping jaw ontology 521, and two fixture blocks 522 can move toward one another or backwards to moving, complete clamping jaw 52 clamping and release movement.Fixture block 522 can be slideably positioned on clamping jaw ontology 521, and cunning has can be set in clamping jaw ontology 521 Sliding block has can be set in slot, fixture block 522, and sliding block is slideably positioned in sliding slot.

In order to enable clamping jaw 52 to clamp kinds of goods of different shapes simultaneously, two opposite clamping faces of fixture block 522 include Flat segments and recess section, two flat segments are oppositely arranged to form the first clamping part, and two recess sections are oppositely arranged to form the second folder Hold portion.First clamping part is used to clamp the kinds of goods with flat surface, such as book, and the second clamping part has arc table for clamping The kinds of goods in face, such as cup.

Cup is difficult to recycle in sale apparatus, therefore generallys use disposable paper cup or disposal plastic cup, due to cup Softer, when clamping, easily deforms.In order to solve this problem, fixture block 522 may further include soft layer 522a and hard The clamping face of matter layer 522b, soft layer 522a close to fixture block 522, clamping face of the hard layer 522b far from fixture block 522.Soft layer 522a can be improved the flexibility of clamping jaw 52, efficiently avoid because 52 chucking power of clamping jaw it is excessive caused by cup deform, be conducive to Guarantee the integrality of cup.Hard layer 522b has stronger chucking power, is conducive to improve clamping stability, kinds of goods is avoided to press from both sides It is fallen during holding.Soft layer 522a uses the material with certain flexibility to be made, and specific material with no restrictions, such as can be Foam, silica gel etc..Hard layer 522b is made of the harder material of quality, and specific material equally with no restrictions, such as can be Steel plate or rigid plastics etc..The connection type of soft layer 522a and hard layer 522b can by being adhesively fixed, the processing is simple, Connection is reliable.

In order to further increase the stability of clamping, the frictional force between clamping face and kinds of goods is improved, can also clamped Anti-skid structure is provided on face.Specifically, anti-skid structure can be striped slot or dot bulge etc..

In the prior art, sale apparatus is usually provided with the operating side that purchase instruction is inputted for user, and user needs at this Operating side shopping goods.Longer due to buying goods the time, user generally requires to be lined up, and occupies the plenty of time.In order to facilitate use Kinds of goods are bought at family, and selling system further includes receiver and computing device.Receiver is set to the outside of shell, is configured as reading The purchase information of customer mobile terminal.Computing device is configured as selling instruction according to purchase information generation, further to control Selling system work.User can choose dimensional code scanner in mobile terminal shopping goods, receiver, be used by reading The two dimensional code of family mobile terminal generates purchase information, is checked and write off, and user's queuing time is short, and purchase impression is preferable.In addition, two-dimentional The advantages such as code has good confidentiality, data are big, the bit error rate is low, user buy safety.In order to improve the friendship of selling system and user Mutual process, selling system further include electrical screen 6, electrical screen 6 can output character and animation, to show the work shape of selling system State, for example, electrical screen 6 can be by label character working condition, and shows that robot makes great efforts production drink when production drink Animation, after drink completes, electrical screen 6 can show the animation that robot smiles.In addition, electrical screen 6 can also export sound Frequently, preferably to realize the interactive process with user.

Sale apparatus further includes controller, controller and computing device, drink device 2, manipulator 5, delivering turntable 4 and electricity Son 6 communication connections of screen can receive the instruction of selling of computing device generation, control drink device 2, manipulator 5 and delivering turntable 4 Work, and output services state is to electrical screen 6.In addition, sale apparatus can also include alarm, when the 4th sensor detects When cup in cup cylinder 221 is insufficient or the 5th sensor detects the kinds of goods deficiency in kinds of goods shelf 3, alarm can warn, Staff is notified to be replenished in time.

The detailed operation process of a kind of vending method applied to the sale apparatus and sale apparatus is also disclosed in the present embodiment, Controller can control manipulator 5 and is put on the delivering turntable 4 on kinds of goods configuration bit P by kinds of goods platform crawl kinds of goods, deliver turntable 4 Rotation will deliver the kinds of goods being located on kinds of goods configuration bit P in turntable 4 and be delivered to kinds of goods delivering position D.

Specifically, vending method the following steps are included:

Step S101, receiver reads the purchase information of customer mobile terminal, and purchase information is transferred to computing device.

Step S102, computing device sells instruction according to purchase information generation.

In order to realize that the automatically working of sale apparatus, computing device can will sell instruction output to controller.

Step S1, control manipulator 5 grabs kinds of goods by kinds of goods platform, and kinds of goods are moved to kinds of goods configuration bit P.

Controller controls manipulator 5 by kinds of goods platform and grabs kinds of goods according to the instruction of selling received.

Wherein, for kinds of goods shelf 3, manipulator 5 can protrude into clipping port 321, clamp kinds of goods by kinds of goods shelf 3.In order to The inventories of kinds of goods in kinds of goods shelf 3 are detected in time, and kinds of goods shelf 3 can also include the 5th sensor.Therefore for kinds of goods Shelf 3, before step S1 further include:

Step S103, it whether there is kinds of goods above the 5th sensor detection shelf 32, if so, step S1 is continued to execute, Otherwise, the 5th sensor exports kinds of goods deficiency warning signal.

Wherein, when the 5th sensor output kinds of goods deficiency warning signal to controller, controller can output signal to report Alert device, alarm are warned.

For drink device 2, manipulator 5 can not directly take out kinds of goods, but need to be taken out cup by cup lowering device 22, and by 211 downside of drink outlet picks up drink, and the cup for filling drink is then moved to kinds of goods configuration bit P.Therefore, drink is filled 2 are set, step S1 is specifically included:

Step S11, control manipulator 5 grabs cup by cup lowering device 22, and cup is moved to kinds of goods configuration bit P.

In order to detect the storage situation of cup in cup lowering device 22 in time, cup lowering device 22 can also include the 4th sensor.Cause This is for kinds of goods shelf 3, before step S11 further include:

Step S1101, it whether there is cup in the 4th sensor detection cup lowering device 22, if so, continuing to execute step S11, otherwise, the 4th sensor export cup deficiency warning signal.

Wherein, when the 4th sensor output cup deficiency warning signal to controller, controller can output signal to report Alert device, is warned with controlling alarm.

Step S12, first sensor 71, which detects kinds of goods configuration bit P, whether there is cup, if so, continuing to execute step Otherwise S13 re-execute the steps S11.

Wherein, after first sensor 71 receives reflection signal, detection information is exported to controller, controller receives the After the detection signal of one sensor 71 output, controller control manipulator 5 continues to execute step S13.It can be examined by step S12 Survey whether manipulator 5 successfully grabs cup.

Step S13, manipulator 5 puts cup to the underface of drink outlet 211.

Specifically, drink device 2 further includes 3rd sensor in order to ensure drink can be fallen into cup, third is passed Sensor is configured as the underface of detection drink outlet 211 with the presence or absence of cup.Therefore, it is also wrapped between step S13 and step S14 It includes:

Step S131, the underface of 3rd sensor detection drink outlet 211 whether there is cup, if so, continuing to hold Otherwise row step S14 continues to execute step S131.

Wherein, after 3rd sensor receives reflection signal, output detection signal to controller.

Step S14, beverage machine 21 exports drink, so that drink falls into the cup of the underface positioned at drink outlet 211.

Wherein, controller can be controlled according to the detection signal of the output for selling instruction and 3rd sensor received Beverage machine 21 exports drink.

Step S15, manipulator 5 grabs the cup for filling drink, and the cup for filling drink is moved to kinds of goods configuration bit P。

Step S2, first sensor 71, which detects kinds of goods configuration bit P, whether there is kinds of goods, if so, step S3 is continued to execute, Otherwise, it re-execute the steps S1.

Wherein, after first sensor 71 receives reflection signal, for output detection signal to controller, controller receives the After the detection signal of one sensor 71 output, controller control manipulator 5 continues to execute step S3.

Step S3, kinds of goods are put into the delivering turntable 4 on kinds of goods configuration bit P by manipulator 5.

Step S4, the detection of second sensor 72 passs kinds of goods delivering position D with the presence or absence of kinds of goods, if so, continuing to execute step Otherwise S4 continues to execute step S5.

Wherein, after second sensor 72 receives reflection signal, for output detection signal to controller, controller receives the After the detection signal of two sensors 72 output, control delivering turntable 4 continues to execute step S5.

Step S5, delivering turntable 4 rotates, and will deliver the kinds of goods being located on kinds of goods configuration bit P in turntable 4 and be delivered to kinds of goods and pass Send a D.

Wherein, controller can control rotary drive mechanism, be rotated with control delivering turntable 4.In order to detect delivering turntable 4 Rotation status, delivering turntable 4 further includes position detecting mechanism, in order to guarantee to deliver stability of the turntable 4 when static, delivering Turntable 4 further includes lockable mechanism.Therefore step S5 is specifically included:

S51, lockable mechanism unlock.

Wherein, the lock tongue that controller can control electromagnetic lock 451 retracts, so that lock tongue is separated with lockhole 452, realizes locking Mechanism unlock.

S52, delivering turntable 4 rotate.

S53, position detecting mechanism detect the rotation position of delivering turntable 4, if rotation is controlled to target position Delivering turntable 4 stops rotating, and it is sealed to control lockable mechanism, and otherwise, delivering turntable 4 continues to rotate, until rotation is to target position It is set to only.

Wherein, when delivering turntable 4 rotation to target position, the kinds of goods delivering being located on kinds of goods configuration bit P in turntable 4 is delivered Position D is delivered to kinds of goods.Specifically, being connect when the light that 442 transmitting terminal of emission sensor issues is blocked by position baffle 441 When receiving end can not receive light, the transmitting of emission sensor 442 detection signal to controller, controller control delivering turntable 4 stops Spin-ended turn, and it is sealed to control lockable mechanism.The lock tongue that controller can control electromagnetic lock 451 stretches out, so that lock tongue is inserted into lockhole In 452, to realize the sealed of lockable mechanism.

Above method is by taking user only buys a kinds of goods as an example, if user enough buys multiple kinds of goods, successively to each Kinds of goods carry out step S1~S5, until completing the delivery process of all kinds of goods.

Note that above are only the preferred embodiment and institute's application technology principle of the utility model.Those skilled in the art's meeting Understand, the utility model is not limited to specific embodiment described here, is able to carry out for a person skilled in the art various bright Aobvious variation, readjustment and substitution is without departing from the protection scope of the utility model.Therefore, although passing through above embodiments The utility model is described in further detail, but the utility model is not limited only to above embodiments, is not departing from It can also include more other equivalent embodiments in the case that the utility model is conceived, and the scope of the utility model is by appended Scope of the claims determine.

Claims (11)

1. a kind of selling system, including rack (1), which is characterized in that further include:

Kinds of goods platform is set on the rack (1), is configured as accommodating kinds of goods, is included at least drink device (2) and kinds of goods shelf (3) one in；

Deliver turntable (4), rotary setting on the rack (1), the delivering turntable (4) can in kinds of goods configuration bit (P) and Switch between kinds of goods delivering position (D)；And

Manipulator (5) is set on the rack (1), is configured to grab kinds of goods from the kinds of goods platform, and kinds of goods are put It sets on the delivering turntable (4) on the kinds of goods configuration bit (P).

2. selling system according to claim 1, which is characterized in that further include:

First sensor (71) is configured as detecting on the kinds of goods configuration bit (P) with the presence or absence of kinds of goods；And

Second sensor (72) is configured as detecting on kinds of goods delivering position (D) with the presence or absence of kinds of goods.

3. selling system according to claim 1, which is characterized in that the manipulator (5) includes mechanical arm (51) and folder Pawl (52), the clamping jaw (52) are configured as crawl kinds of goods, and the mechanical arm (51) is configured as that the clamping jaw (52) is driven to exist It is moved between the kinds of goods platform and the kinds of goods configuration bit (P).

4. selling system according to claim 3, which is characterized in that the clamping jaw (52) include clamping jaw ontology (521) and Two fixture blocks (522) being oppositely arranged, two fixture blocks (522) are arranged at intervals on the clamping jaw ontology (521), and two The fixture block (522) can move toward one another or backwards to movement.

5. selling system according to claim 1, which is characterized in that the drink device (2) includes:

Beverage machine (21), is provided with drink outlet (211), and the beverage machine (21) is configured as making and exports drink；And

Cup lowering device (22) is configurable for accommodating multiple cups, and cup is configured to be taken out by the cup lowering device (22), And drink is picked up below drink outlet (211), the cup for filling drink forms kinds of goods.

6. selling system according to claim 5, which is characterized in that the drink device (2) further includes 3rd sensor, The 3rd sensor is configured as detecting the underface of the drink outlet (211) with the presence or absence of cup.

7. selling system according to claim 1, which is characterized in that the kinds of goods shelf (3) includes shelf (32), described Shelf (32) is obliquely installed, and the shelf (32) is configurable for supporting multiple kinds of goods, the front side setting of the shelf (32) There is the clipping port (321) with the manipulator (5) cooperation, the clipping port (321) is located at the low side of the shelf (32).

8. selling system according to claim 7, which is characterized in that the shelf (32) be arranged in parallel with it is multiple, it is multiple The shelf (32) is spaced setting along the vertical direction.

9. selling system according to claim 1, which is characterized in that further include shell, the jacket is set to the machine The outside of frame (1), the shell are provided with pass-through, and the delivering turntable (4) passes through the pass-through, the kinds of goods configuration bit (P) it is set to the inside of the shell, kinds of goods delivering position (D) is set to the outside of the shell.

10. selling system according to claim 9, which is characterized in that fixation is set on the upper surface of delivering turntable (4) It is equipped with partition (42), the delivering turntable (4) is divided into two parts by the partition (42), and the partition (42) is configured as When the delivering turntable (4) rotation, the partition (42) and the shell are angled to open the pass-through, pass when described When feed turntable (4) is static, the partition (42) is coplanar with the shell to close the pass-through.

11. selling system according to claim 9, which is characterized in that the shell is made of transparent material, described to sell The system of selling further includes electrical screen (6), and the electrical screen (6) is set on the rack (1).