CN210488660U

CN210488660U - Unmanned on duty smart machine picks up mechanism and unmanned on duty smart machine

Info

Publication number: CN210488660U
Application number: CN201921647214.2U
Authority: CN
Inventors: 邓浩; 曹绪涛; 乔椿; 于熹
Original assignee: Zhongxiang Accompanying Shenzhen Technology Co Ltd
Current assignee: Zhongxiang Accompanying Shenzhen Technology Co Ltd
Priority date: 2019-09-29
Filing date: 2019-09-29
Publication date: 2020-05-08
Anticipated expiration: 2029-09-29

Abstract

The utility model provides an unattended intelligent equipment picking mechanism and unattended intelligent equipment, which comprises a goods taking device for picking up goods and a position driving device for driving the goods taking device to move; the goods taking device is provided with a detection device for detecting whether the goods taking device contacts the goods. The unattended intelligent equipment picking mechanism is stable in goods discharging, and the situation of goods blocking cannot occur.

Description

Unmanned on duty smart machine picks up mechanism and unmanned on duty smart machine

Technical Field

The utility model relates to a retail technical field especially relates to an unmanned on duty smart machine picks up mechanism and unmanned on duty smart machine.

Background

A vending machine is a device for automatically vending goods, in which a vending machine for vending goods such as beverages, snacks, etc. is generally placed at a station, a mall, etc.

The existing vending machine adopts a spring or a crawler-type goods channel, and the goods outlet action is completed through the goods channel. However, the goods passage has very strict requirements for placing goods, and if the goods are not properly placed, the goods are easily blocked and can not be discharged.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's defect, provide an unmanned on duty smart machine and pick up mechanism and unmanned on duty smart machine for the problem of card goods appears easily when solving among the prior art vending machine shipment.

In order to solve the above problem, the utility model provides a: an unattended intelligent equipment picking mechanism comprises a goods taking device and a position driving device, wherein the goods taking device is used for picking goods, and the position driving device is used for driving the goods taking device to move;

the goods taking device is provided with a detection device for detecting whether the goods taking device contacts the goods.

As a further improvement of the above technical solution, the goods taking device includes a vacuum pump and an adsorption nozzle connected to the vacuum pump, wherein the vacuum pump is used for extracting air inside the adsorption nozzle.

As a further improvement of the above technical solution, the vacuum pump is communicated with the adsorption nozzle through a connecting pipe;

and the connecting pipe is provided with an air pressure sensor for detecting the air pressure in the connecting pipe.

As a further improvement of the above technical solution, the adsorption nozzle has elasticity;

the afterbody of absorption mouth is provided with the base, be provided with on the base be used for right the absorption mouth recovers the elastic component of buffering.

As a further improvement of the above technical solution, the position drive device includes:

the lifting driving mechanism is used for driving the goods taking device to lift in the vertical direction;

the first linear transmission mechanism is used for driving the lifting driving mechanism to perform linear motion in the direction parallel to the X axis;

the second linear transmission mechanism is used for driving the first linear transmission mechanism to perform linear motion in a direction parallel to the Y axis;

wherein the X-axis and the Y-axis are perpendicular, and both are perpendicular to the plumb line.

As a further improvement of the above technical solution, the lifting drive mechanism includes a parallelogram mechanism.

As a further improvement of the above technical solution, the first linear transmission mechanism includes a first belt pulley transmission mechanism, wherein the lifting drive mechanism is fixedly disposed on a belt of the first belt pulley transmission mechanism.

As a further improvement of the above technical solution, the second linear transmission mechanism includes a second pulley transmission mechanism, wherein the first linear transmission mechanism is fixedly disposed on a belt of the second pulley transmission mechanism.

As a further improvement of the above technical solution, the detection device includes a photoelectric switch.

The utility model discloses still provide: an unattended smart device comprising an unattended smart device pick-up mechanism as claimed in any preceding claim.

The utility model has the advantages that: the utility model provides an unattended intelligent equipment picking mechanism, which comprises a goods taking device for picking up goods and a position driving device for driving the goods taking device to move; the goods taking device is provided with a detection device for detecting whether the goods taking device contacts the goods.

The unattended intelligent equipment picking mechanism can be used for executing the work of shipment: driving the goods taking device to move to the position of the goods by using the position driving device; then, picking up the goods through a goods taking device; and finally, driving the goods taking device by using the position driving device, and moving the goods to a goods discharging area, so that the goods discharging work is completed. Wherein, under detection device's effect, can detect whether take cargo device to contact the goods, avoid invalid shipment operation from this.

The unattended intelligent equipment picking mechanism is stable in goods discharging, and the situation of goods blocking cannot occur.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 shows a schematic diagram of an unattended smart device pick-up mechanism;

FIG. 2 shows a schematic view of a cargo handling apparatus;

fig. 3 shows a partial enlarged view of fig. 2.

Description of the main element symbols:

1-a goods taking device; 2-position drive means; 3-a detection device; 4-a vacuum pump; 5-an adsorption nozzle; 6-a barometric sensor; 7-connecting pipe; 8-a base; 9-an elastic member; 10-a lifting drive mechanism; 11-a first linear drive; 12-a second linear transmission; 13-a first connecting rod; 14-a second connecting rod; 15-a third connecting rod; 16-a fourth connecting rod; 17-a connecting plate; 18-bracket.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated herein is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Example one

Referring to fig. 1 and 2, in the present embodiment, an unattended smart device pickup mechanism is provided, which includes a cargo handling device 1 for picking up cargo and a position driving device 2 for driving the cargo handling device 1 to move.

The goods handling device 1 is provided with a detection device 3 for detecting whether the goods handling device 1 contacts the goods.

In the unattended intelligent equipment, goods can be placed in the storage bin. Wherein, take cargo device 1 to be located the top of the goods in the storage storehouse all the time.

When the goods are delivered, the goods taking device 1 is driven to move to the position of the goods through the position driving device 2; then, the goods are picked up by the goods taking device 1; and finally, driving the goods taking device 1 through the position driving device 2, so that the goods move out of the goods storage bin and move to a goods discharging area, and thus the goods discharging work is completed. Wherein, under detection device 3's effect, can detect and take goods device 1 whether contact the goods, ensure to take goods device 1 and can accurately pick up the goods, avoid invalid shipment operation.

The shipment area may be located at the bottom of the unattended smart device. When the goods move to directly over the shipment area, take cargo device 1 to loosen the goods, the goods drops automatically to the shipment area under the effect of gravity, afterwards, the user can take away the goods of purchase from the shipment area.

As shown in fig. 2 and 3, in the present embodiment, the cargo handling apparatus 1 includes a vacuum pump 4 and an adsorption nozzle 5 connected to the vacuum pump 4, wherein the vacuum pump 4 is configured to draw air inside the adsorption nozzle 5.

The vacuum pump 4 is used for pumping the air inside the adsorption nozzle 5, so that negative pressure is generated inside the adsorption nozzle 5, and the goods contacted with the adsorption end of the adsorption nozzle 5 are adsorbed by the adsorption nozzle 5 under the action of atmospheric pressure. Wherein, the adsorption end of the adsorption nozzle 5 is located at the front end of the adsorption nozzle 5, and in fig. 1, the adsorption end of the adsorption nozzle 5 faces vertically downwards.

After the goods removed to the shipment region directly over, make the inside atmospheric pressure of adsorption nozzle 5 reply normal through control vacuum pump 4, at this moment, the goods can drop to the shipment region automatically because of the dead weight.

The suction nozzle 5 is well suited for picking up soft packaged goods, including bagged french fries, 3D glasses, masks, and the like. The soft package has the advantages of soft quality, flat and smooth surface and the like, so the adsorption nozzle 5 can easily adsorb the soft package.

It should be noted that in this embodiment, the weight of the single piece of goods may not exceed the maximum suction force that can be generated by the suction nozzle 5. Generally, the mass of the single piece of goods is preferably more than 500 g.

In the present embodiment, the vacuum pump 4 is communicated with the adsorption nozzle 5 through a connection pipe 7, wherein an air pressure sensor 6 for detecting the air pressure inside the connection pipe 7 is disposed on the connection pipe 7.

The connection pipe 7 may be a steel pipe. The steel pipe has a certain strength and is not easily deformed, so the vacuum pump 4 can be directly fixed at one end of the steel pipe. Wherein, the other end of the connecting pipe 7 is communicated with the sleeve at the tail end of the adsorption nozzle 5 in a sealing way.

In another embodiment, a hose may be used as the connection pipe 7. However, since the hose cannot support the vacuum pump 4, the vacuum pump 4 may be mounted on the position drive device 2.

Before the goods are not contacted, the vacuum pump 4 already draws the air inside the adsorption nozzle 5, and at this time, the air pressure in the connection pipe 7 can be regarded as P1; when the adsorption nozzle 5 adsorbs the goods, the air pressure in the connecting pipe 7 changes, and at this time, the air pressure in the connecting pipe 7 can be regarded as P2; if the adsorbed cargo falls, the pressure inside the connecting pipe 7 changes accordingly, and the pressure inside the connecting pipe 7 can be regarded as P3.

The control unit can compare P1, P2 and P3, thereby determining whether the adsorption nozzle 5 adsorbs goods and whether the goods fall. Wherein the control unit may comprise a microprocessor.

In order to enhance the absorption effect and stability, the absorption nozzle 5 may be made of a material having elasticity, for example, the absorption nozzle 5 may be made of a material such as silica gel or rubber. The suction nozzle 5 may be provided in a screw tubular shape, thereby allowing the suction nozzle 5 to be extended and contracted for better suction.

Because the adsorption nozzle 5 has elasticity, the adsorption nozzle 5 can be better attached to the surface of the goods and adapt to the surface shape of the goods when the adsorption nozzle 5 performs adsorption.

In this embodiment, a base 8 is provided at the rear of the suction nozzle 5, and an elastic member 9 for restoring and cushioning the suction nozzle 5 is provided on the base 8. The elastic member 9 may be a spring, wherein the spring is mounted on the base 8 and sleeved on the sleeve at the tail end of the suction nozzle 5.

The in-process of picking up the goods of adsorption nozzle 5, adsorption nozzle 5 need produce certain extrusion to the goods under the effect of position drive arrangement 2, just can make adsorption nozzle 5's absorption end fully contact with the goods. When the adsorption nozzle 5 is pressed, the adsorption nozzle 5 is deformed, and a part of the adsorption nozzle 5 may be pressed into the base 8; when the operation of shipment is accomplished to adsorption nozzle 5, under the effect of spring, adsorption nozzle 5 can resume to the original state, makes things convenient for adsorption nozzle 5 to carry out subsequent work of picking up from this.

The suction nozzle 5 generates a certain vibration during operation under the action of the vacuum pump 4 and the position drive device 2. The use of a spring can serve as a buffer and thus reduce the influence of vibrations on the suction nozzle 5.

In the present embodiment, the position drive device 2 includes a lifting drive mechanism 10, a first linear transmission mechanism 11, and a second linear transmission mechanism 12.

The lifting driving mechanism 10 is used for driving the goods taking device 1 to lift in the vertical direction; the first linear transmission mechanism 11 is used for driving the lifting driving mechanism 10 to perform linear motion in a direction parallel to the X axis; and the second linear transmission mechanism 12 is used for driving the first linear transmission mechanism 11 to perform linear motion in a direction parallel to the Y axis.

Wherein the X-axis and the Y-axis are perpendicular and both are perpendicular to the plumb line.

In the present embodiment, the elevation drive mechanism 10 includes a parallelogram mechanism. The parallelogram mechanism is composed of connecting rods which are sequentially and rotatably connected end to end, and has the advantages of simple structure, strong stability, small occupied space and the like.

As shown in fig. 2, the parallelogram mechanism includes a first connecting rod 13, a second connecting rod 14, a third connecting rod 15, and a fourth connecting rod 16. The first connecting rod 13 and the second connecting rod 14 are vertically arranged, the third connecting rod 15 and the fourth connecting rod 16 are arranged in parallel, two ends of the third connecting rod 15 are respectively rotatably connected with the tops of the first connecting rod 13 and the second connecting rod 14, and two ends of the fourth connecting rod 16 are respectively rotatably connected with the bottoms of the first connecting rod 13 and the second connecting rod 14. Wherein, the goods taking device 1 is fixedly connected with the first connecting rod 13.

In this embodiment, the base 8 of the suction nozzle 5 may be fixed to the first connecting rod 13 by an L-shaped connecting plate 17. Wherein, when the connection pipe 7 is a hose, the vacuum pump 4 can be installed on the connection plate 17.

The second connecting rod 14 can be fixed on a support 18, a driving motor can be arranged on the support 18, one end of the third connecting rod 15, close to the second connecting rod 14, can be fixedly provided with a rotating shaft, and the driving motor can be in transmission connection with the rotating shaft through a gear reduction box. Under the action of the driving motor, the third connecting rod 15 rotates, and then drives the second connecting rod 14 to rotate, so that the goods taking device 1 is lifted. Wherein, the driving motor can adopt a stepping motor.

When the transmission is carried out through the parallelogram mechanism, the motion trail of the goods taking device 1 is arc-shaped. If the goods handling device 1 can be lifted in a straight line in the vertical direction, a corresponding motion compensation can be performed by means of the second linear transmission 12. Wherein the displacement to be compensated per unit time of the second linear actuator 12 in the direction along the Y-axis is related to the size of the parallelogram mechanism and the angular velocity of the third connecting rod 15.

In the present embodiment, the first linear transmission mechanism 11 includes a first pulley transmission mechanism, wherein the lifting driving mechanism 10 is fixedly disposed on a belt of the first pulley transmission mechanism.

In order to keep the movement smooth, the housing of the first linear transmission 11 may be provided with a first linear guide, wherein the bracket 18 is slidably connected with the first linear guide.

The housing of the first linear transmission mechanism 11 is provided with a first main belt pulley, a first driven belt pulley and a first belt, the first main belt pulley and the first driven belt pulley are sleeved with the first belt, and the first belt is in a tensioned state. Wherein, the housing of the first linear transmission mechanism 11 is further provided with a first driving motor for driving the first main belt pulley to rotate.

In the present embodiment, the second linear transmission 12 comprises a second pulley transmission, wherein,

the first linear transmission mechanism 11 is fixedly arranged on a belt of the second belt pulley transmission mechanism.

In order to keep the movement smooth, a second linear guide rail may be disposed on the housing of the second linear transmission mechanism 12, wherein one end of the first linear transmission mechanism 11 is slidably connected to the second linear guide rail.

A second main belt pulley, a second driven belt pulley and a second belt are arranged on a shell of the second linear transmission mechanism 12, the second belt is sleeved on the second main belt pulley and the second driven belt pulley, and the second belt is in a tensioned state. Wherein, a second driving motor for driving the second main belt pulley to rotate is further arranged on the housing of the second linear transmission mechanism 12.

In the present embodiment, the position drive device 2 may be provided with a position detection unit, such as a stroke switch or the like. It is possible to determine whether the load handling device 1 that has picked up the load has moved to a predetermined position, for example, directly above the delivery area, using the travel switch.

In a specific embodiment, a sensing unit, such as a proximity switch, may also be disposed at a corresponding location on the unattended intelligent device. The sensing unit may also be used to determine whether the cargo handling apparatus 1 that has picked up the cargo has moved to a designated position.

Only when the goods taking device 1 contacts the goods, the unattended intelligent equipment picking mechanism can finish the actions of picking the goods and subsequently moving the goods. In order to determine whether the cargo handling device 1 contacts the cargo, the cargo handling device 1 is provided with a detection device 3.

In the present embodiment, the detection device 3 includes a photoelectric switch.

The photoelectric switch is a short-term photoelectric proximity switch, and detects the existence of an object by utilizing the shielding or reflection of the detected object to a light beam and switching on a circuit through a synchronous circuit. The object is not limited to metal, and all objects that reflect light (or block light) can be detected. The photoelectric switch converts the input current into an optical signal on the transmitter to be emitted, and the receiver detects the target object according to the intensity or the existence of the received light.

Wherein, the detecting device 3 can select other contact type or non-contact type sensors according to the requirement.

When picking up goods, the goods taking device 1 is close to the goods under the action of the position driving device 2; when the adsorption end of the adsorption nozzle 5 is in contact with the goods, the adsorption nozzle 5 can adsorb the goods under the action of the vacuum pump 4, and meanwhile, the light beam emitted by the photoelectric switch can be shielded by the goods; the photoelectric switch sends a response signal to the control unit, and the control unit controls the adsorption nozzle 5 to ascend and move to a delivery area outside the storage bin after receiving the response signal.

In this embodiment, an unattended intelligent device is further provided, and the unattended intelligent device comprises the unattended intelligent device picking mechanism.

Example two

In the present embodiment, the difference from the first embodiment is that the cargo handling device 1 may employ electric jaws or pneumatic jaws.

Clamping the goods by using an electric clamping jaw or a pneumatic clamping jaw; the clamped goods are placed right above the delivery area through the position driving device 2; the goods taking device 1 loosens the goods, and the goods fall into the goods discharging area under the action of self weight.

EXAMPLE III

The difference between the present embodiment and the first embodiment is that the lifting driving mechanism 10 includes an electric push rod, the actuating unit of the first linear transmission mechanism 11 includes an air cylinder, and the actuating unit of the second linear transmission mechanism 12 includes a hydraulic cylinder. The goods taking device 1 is fixed on a push rod of an electric push rod, the electric push rod is fixed on a piston rod of an air cylinder, and the air cylinder is fixed on a piston rod of a hydraulic cylinder.

Among them, the types of the common linear motion mechanisms are very many. The elevation driving mechanism 10, the first linear actuator 11, and the second linear actuator 12 may be selected among them as needed.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.

Claims

1. The unattended intelligent equipment picking mechanism is characterized by comprising a goods taking device for picking up goods and a position driving device for driving the goods taking device to move;

2. The unattended smart device pick-up mechanism according to claim 1, wherein the pick-up device comprises a vacuum pump and a suction nozzle connected to the vacuum pump, wherein the vacuum pump is configured to draw air inside the suction nozzle.

3. The unattended smart device pick-up mechanism according to claim 2, wherein the vacuum pump is in communication with the suction nozzle through a connection pipe;

4. The unattended smart device pick-up mechanism according to claim 2, wherein the suction nozzle is elastic;

5. The unattended smart device pick-up mechanism according to claim 1, wherein the position driving means comprises:

6. The unattended smart device pick-up mechanism according to claim 5, wherein the lift drive mechanism comprises a parallelogram mechanism.

7. The unattended smart device pick-up mechanism according to claim 5, wherein the first linear drive mechanism comprises a first pulley drive mechanism, wherein the lift drive mechanism is fixedly disposed on a belt of the first pulley drive mechanism.

8. The unattended smart device pick-up mechanism according to claim 5, wherein the second linear drive mechanism comprises a second pulley drive mechanism, wherein the first linear drive mechanism is fixedly disposed on a belt of the second pulley drive mechanism.

9. The unattended smart device pick-up mechanism according to claim 1, wherein the detection means comprises a photoelectric switch.

10. An unattended smart device, comprising the unattended smart device pick-up mechanism of any one of claims 1-9.