CN220604080U

CN220604080U - Goods taking and delivering system and vending machine

Info

Publication number: CN220604080U
Application number: CN202322287604.6U
Authority: CN
Inventors: 陈剑; 刘荣鑫
Original assignee: Shanghai Yunhuikang Intelligent Technology Co ltd
Current assignee: Shanghai Yunhuikang Intelligent Technology Co ltd
Priority date: 2023-08-24
Filing date: 2023-08-24
Publication date: 2024-03-15
Anticipated expiration: 2033-08-24

Abstract

The utility model provides a goods taking and delivering system and an automatic vending machine, and relates to the technical field of automatic vending. The goods taking and delivering system comprises a goods shelf, a goods taking device and a controller; the goods shelf comprises a plurality of layers of obliquely arranged laminates, the laminates are divided into a plurality of slope goods channels, a goods channel opening at the front end of each slope goods channel is provided with a blocking piece, and the slope goods channel is of an unpowered goods channel structure; the goods taking device is used for taking goods from the slope goods channel of the goods shelf laminate and conveying the goods; be provided with supplementary shipment structure or adopt aforesaid supplementary shipment structure as aforesaid to block the piece on the piece, the goods at goods road junction support and lean on supplementary shipment structure, drive supplementary shipment structure work when getting the goods device and taking out the goods from the goods road junction. The utility model has the advantages of simple structure of the goods channel and small goods discharging resistance, and improves the reliability and stability of automatic goods discharging.

Description

Goods taking and delivering system and vending machine

Technical Field

The utility model relates to the technical field of automatic vending.

Background

The traditional vending machine adopts a single channel type shipment mode, such as spring spiral shipment, electric putter shipment, caterpillar shipment and the like, and a power-driven shipment device (such as a motor and a caterpillar) is required to be arranged on each shipment channel, so that the manufacturing cost is high, and wiring in a cabinet is complex when the shipment channels are multiple. Accordingly, the prior art provides vending machines with an unpowered goods channel structure that pick up and deliver goods by designing a pick device. It is easy to understand that for vending machines adopting the unpowered goods channel structure, in order to match with the unpowered goods channel structure, a corresponding power device needs to be arranged on the goods taking device to enable goods to leave the goods channel. The goods taking device commonly used in the prior art comprises a goods taking bucket, a goods taking mechanical arm, a goods taking trolley and the like. As an example, for example, in the prior art, a patent with publication number CN211742193U provides an automatic medicine vending apparatus, which includes a bucket module, the bucket module includes a frame, a conveyor belt device, a lane driving device and a door opening assembly, the lane driving device includes a driving gear, a driving motor and a conveyor belt, the driving gear is used for meshing with a driven gear of an adjustable lane, and the adjustable lane includes a driven gear, a belt and a cargo pusher. Above-mentioned automatic medicine selling device sets up goods way drive arrangement on getting the goods fill, and goods way subassembly does not set up power drive arrangement (unpowered goods way subassembly), but goods way subassembly need set up driven gear, belt and goods push pedal in order to cooperate shipment with getting the goods fill, and transmission structure is comparatively complicated, has increased the degree of difficulty for the manufacturing and the maintenance of goods way subassembly. For another example, the disclosure of CN208744851U provides a multi-directional movement device for a vending machine manipulator, which comprises a base, a lateral movement mechanism, a rotation mechanism, a vertical movement mechanism and a manipulator, wherein the manipulator is used for grabbing objects.

The application of manipulator in the vending machine field is more common, adopts the manipulator to snatch the scheme of goods in the goods shelves, need not to set up complicated transmission structure on the goods way of goods shelves, and can take out the goods of equidimension, shape, and the operability is strong. However, in practical application, it is found that, for a slope cargo lane, when more cargoes are placed on the cargo lane, a larger cargo discharging resistance exists for the cargoes at the cargo lane, and cargo discharging failure may occur during cargo discharging, so that the reliability and stability of cargo discharging are reduced.

Disclosure of Invention

In order to overcome the defects in the prior art, the utility model provides a goods taking and delivering system and a vending machine. The utility model provides a goods taking and delivering system based on a slope goods channel, which utilizes a blocking piece of the slope goods channel to set an auxiliary goods delivering structure or adopts the auxiliary goods delivering structure as the blocking piece when goods is taken from the slope goods channel without power drive through a goods taking device, has the advantages of simple structure of the goods channel and small goods delivering resistance, and improves the reliability and stability of automatic goods delivery.

In order to achieve the above object, the present utility model provides the following technical solutions:

a goods taking and delivering system comprises a goods shelf, a goods taking device and a controller;

the goods shelf comprises a plurality of layers of obliquely arranged layers of plates, a partition plate is arranged in the layers of plates to divide the layers of plates into a plurality of slope goods channels, a goods channel opening at the front end of each slope goods channel is provided with a blocking piece, and the slope goods channel is of an unpowered goods channel structure;

the goods taking device is arranged in a moving way relative to the goods shelf and is used for taking goods from a slope goods channel of the goods shelf laminate and conveying the goods; the goods taking device is electrically connected with the controller and receives the control of the controller;

the barrier is provided with an auxiliary shipment structure or the auxiliary shipment structure is adopted as the barrier, the goods at the goods port are propped against the auxiliary shipment structure, and the goods taking device drives the auxiliary shipment structure to work when taking out the goods from the goods port.

Further, the auxiliary shipment structure is a roller or a roller installed on the goods road junction, the axial direction of the roller or the roller is parallel to the width direction of the slope goods road, and the roller or the roller is driven to rotate when goods move.

Further, when the rollers are adopted, the number of the rollers is multiple, the rollers are axially connected in series to form a roller group with unit length, and the axial length of the roller group is matched with the width of the slope goods channel;

when the rolling shaft is adopted, the axial length of the rolling shaft is matched with the width of the slope goods way.

Further, the auxiliary shipment structure is the ball of installing on the goods way mouth, the ball passes through the holder and installs on the goods way mouth, holder fixed mounting is on the goods way mouth, and the axial length of holder matches with the width of slope goods way.

Further, the retainer is a rod piece, a row of ball mounting holes are formed in the rod piece, and one ball is mounted in each ball mounting hole;

or, the retainer is a cylindrical member, the cylindrical member is installed on the goods passage, a plurality of ball installation holes are formed in the wall of the cylindrical member, and one ball is installed in each ball installation hole.

Further, get goods device includes frame and arm, the frame corresponds the goods shelves setting, the arm is installed in the frame and can be removed, be provided with on the arm and press from both sides and get device and/or adsorption equipment.

Further, the frame comprises an up-and-down motion track and a left-and-right motion track, and an up-and-down motion motor and a left-and-right motion motor are arranged corresponding to the up-and-down motion track and the left-and-right motion track.

Further, the goods taking device further comprises a detection switch for detecting whether goods exist on the clamping device and/or the adsorption device;

the detection switch comprises an optoelectronic proximity switch and/or a mechanical contact switch.

Further, the goods taking device further comprises a visual identification piece, and the visual identification piece is arranged on the mechanical arm and used for identifying goods grabbed by the mechanical arm.

The utility model also provides a vending machine, which comprises a machine shell, wherein the machine shell is provided with a goods taking port, and the goods taking and delivering system is arranged in the machine shell.

By adopting the technical scheme, the utility model has the following advantages and positive effects: the utility model provides a goods taking and delivering system based on a slope goods channel, which utilizes a blocking piece of the slope goods channel to set an auxiliary goods delivering structure or adopts the auxiliary goods delivering structure as the blocking piece when goods is taken from the slope goods channel without power drive through a goods taking device, has the advantages of simple structure of the goods channel and small goods delivering resistance, and improves the reliability and stability of automatic goods delivery.

Drawings

Fig. 1 is a schematic structural diagram of a pick-up and delivery device system according to an embodiment of the present utility model.

Fig. 2 is a schematic structural diagram of a shelf laminate according to an embodiment of the present utility model.

Fig. 3 is a schematic view of a structure for installing a roller on a blocking member according to an embodiment of the present utility model.

Fig. 4 is a schematic structural view of a roller as a blocking member according to an embodiment of the present utility model.

Fig. 5 is a schematic structural view of a ball-type blocking member according to an embodiment of the present utility model.

Fig. 6 is a schematic structural diagram of a ball-type blocking member according to an embodiment of the utility model.

Fig. 7 is a schematic structural diagram of a mechanical arm for grabbing goods according to an embodiment of the present utility model.

Reference numerals illustrate:

a pick delivery system 10;

shelf 100, deck 110, ramp 111, spacer 112, stop 113, cage 1131, ball mounting holes 1132, auxiliary shipment structure 114, positioning member 115;

the goods taking device 200, a rack 210, a mechanical arm 220, a traversing arm bar 221, a bracket 222, a goods grabbing part 223, a sliding block 224, a detection switch 225 and a visual identification piece 226.

Detailed Description

The pick-and-place system and vending machine disclosed in the present utility model will be described in further detail with reference to the accompanying drawings and specific embodiments. It should be noted that the technical features or combinations of technical features described in the following embodiments should not be regarded as being isolated, and they may be combined with each other to achieve a better technical effect. In the drawings of the embodiments described below, like reference numerals appearing in the various drawings represent like features or components and are applicable to the various embodiments. Thus, once an item is defined in one drawing, no further discussion thereof is required in subsequent drawings.

In the description of the embodiment of the present application, "/" means "and/or" is used to describe the association relationship of the association object, which means that three relationships may exist, for example, "a and/or b" means: there are three cases of A and B separately. In the description of the embodiments of the present application, "plurality" means two or more.

Hereinafter, the technical concept and the scheme of the present utility model will be described according to an exemplary application scenario.

Referring to FIG. 1, a pick-and-place system 10 is provided for the present utility model, including a pallet 100, a pick device 200, and a controller (not shown). The controller is a device with various control functions, such as a singlechip, an industrial personal computer or other programmable logic controllers.

The shelf 100 includes a plurality of layers of obliquely arranged layers 110, the bottom plates of the layers 110 are obliquely arranged to form a slope with high rear side and low front side, and the front end of the slope is provided as a delivery port. Referring to fig. 2, a partition 112 is installed in the deck 110 to divide the deck 110 into a plurality of slope lanes 111, a barrier 113 is provided at a cargo gate at a front end of each slope lane 111 to limit cargo on the slope lane, when cargo is placed in the lane, the cargo at the cargo gate is abutted against the barrier 113, and the following cargo is placed in sequence on the lane. After the first goods at the goods port are taken away by the goods taking device 200, the latter goods in the same goods port automatically slide to the position of the blocking piece 113 at the goods port under the action of gravity. In this embodiment, the slope cargo ways 111 are all unpowered cargo way structures. The unpowered goods channel structure is a power device which is provided with no motor and the like on the goods channel and can provide power to enable goods to leave the goods channel, and the power device on the goods taking device is required to finish taking goods from the goods channel so as to enable the goods to leave the goods channel.

The pick device 200 is movably disposed relative to the pallet for picking and transporting loads from the sloped lanes 111 of the pallet deck 110. When the goods taking device 200 is specifically arranged, the goods taking device 200 is electrically connected with the controller and receives the control of the controller, that is, when goods are required to be taken out, the controller can control the goods taking device 200 to work according to the received goods taking instruction, and goods taking operations are carried out from the goods shelves.

Preferably, the partition 112 on the deck 110 is mounted to the floor of the deck by a removable connector, so that the number of ramp lanes and lane widths on the deck, such as the lane widths of a plurality of ramp lanes, can be adjusted by mounting the partition 112 to accommodate the vending of different sized products. Optionally, a positioning element 115 may be further disposed at the front end of the cargo gate of each slope cargo path, where the positioning element 115 may be used for cargo path positioning by the cargo taking device 200, and may also be used for cargo information management, statistics, tracking, etc. of the cargo path.

In this embodiment, the barrier 113 of the slope cargo way is provided with an auxiliary cargo discharging structure 114, or the auxiliary cargo discharging structure 114 is adopted as the barrier 113, so that the cargo at the cargo way opening can naturally lean against the auxiliary cargo discharging structure 114 at the cargo way opening under the action of gravity, and the auxiliary cargo discharging structure 114 can be driven to work when the cargo taking device 200 takes out the cargo from the cargo way opening.

In a preferred embodiment, the auxiliary discharging structure 114 is a roller or a roller mounted on the goods port, the axial direction of the roller or the roller is parallel to the width direction of the slope goods port, and the roller or the roller is driven to rotate when the goods move.

Preferably, when the rollers are adopted, the rollers are multiple, the rollers are axially connected in series to form a roller group with unit length, and the axial length of the roller group is matched with the width of the slope goods channel. When the rolling shaft is adopted, the axial length of the rolling shaft is matched with the width of the slope goods way.

By way of example and not limitation, referring to fig. 3, an auxiliary shipment structure 114 is exemplified as a roller mounted on top of the barrier 113, the roller having an outer diameter greater than the thickness of the barrier 113 so that the goods at the crossing can contact the surface of the roller. When the goods taking device 200 takes out goods from the goods port of the slope goods channel, acting force generated between the goods and the rolling shaft drives the rolling shaft to rotate, so that resistance between the goods taking device and the blocking piece 113 is reduced, goods clamping probability during goods taking is reduced, and goods discharging reliability and accuracy are improved.

With continued reference to fig. 4, another way of using rollers as the auxiliary shipment 114 is illustrated, differing from fig. 3 in that the rollers are directly used as the stops 113 in fig. 4, i.e., the stops 113 are structurally integrated with the auxiliary shipment 114 without the need for a special stop. Similar to the foregoing embodiments, the goods at the goods gate contact the surface of the roller, when the goods taking device 200 takes out the goods from the goods gate of the slope goods gate, the acting force generated between the goods and the roller drives the roller to rotate, compared with the prior art, the resistance when the goods are taken out is reduced, the probability of blocking the goods when the goods are taken out is reduced, and the reliability and accuracy of delivery are improved.

In the process of designing the goods shelves, the auxiliary goods discharging structure in fig. 3 or 4 can be selected according to the size of the sold goods boxes, and preferably, for the goods with larger goods box height, the auxiliary goods discharging structure in fig. 3 is selected; for cargo with a smaller height of the cargo box, the auxiliary shipment structure of fig. 4 may be selected.

In another implementation manner of this embodiment, the auxiliary delivery structure is a ball installed on the port, the ball is installed on the port through a retainer, the retainer is fixedly installed on the port, and an axial length (or length) of the retainer is matched with a width of the slope port.

Preferably, the main structure of the stopper 113 is provided as a cage for the balls.

When the retainer is specifically arranged, the retainer can adopt a rod piece, a row of ball mounting holes are formed in the rod piece, and one ball is mounted in each ball mounting hole. Referring to fig. 5, at this time, the blocking member 113 may include a rectangular cage 1131, and a plurality of ball mounting holes 1132 are formed in a row on the cage 1131, and the length of the cage 1131 is matched with the width of the ramp. Each ball mounting hole 1132 has a ball mounted therein as an auxiliary shipment structure 114, the ball being capable of rolling relative to the ball mounting hole 1132, and the diameter of the ball being greater than the thickness (or depth) of the ball mounting hole 1132 so that the surface of the ball protrudes from the cage 1131, so that the cargo at the cargo gate can be in contact with the surface of each ball. When the goods taking device 200 takes out goods from the goods port of the slope goods channel, acting force generated between the goods and each ball drives the ball to rotate, compared with the prior art, the resistance when the goods are taken out is reduced, the goods clamping probability when the goods are taken out is reduced, and the goods discharging reliability and accuracy are improved.

It should be noted that, although only one row of balls 114 is disposed on the cage 1131 in fig. 5, those skilled in the art should understand that multiple rows of balls may be disposed according to the size of the cage 1131, and the size of the cage 1131 is related to the height of the cargo box, and may be adaptively disposed according to actual needs.

Referring to FIG. 6, the cage 1131 is illustrated as a cylindrical member. At this time, the cylindrical member is mounted on the goods road junction, a plurality of ball mounting holes 1132 are formed in the wall of the cylindrical member, a ball serving as an auxiliary shipment structure 114 can be mounted in each ball mounting hole 1132, the ball can roll relative to the ball mounting hole 1132, and the diameter of the ball is larger than the depth of the ball mounting hole 1132 so that the surface of the ball protrudes out of the retainer 1131, so that goods on the goods road junction can be in contact with the surface of each ball. When the goods taking device 200 takes out goods from the goods port of the slope goods channel, acting force generated between the goods and each ball drives the ball to rotate, compared with the prior art, the resistance when the goods are taken out is reduced, the goods clamping probability when the goods are taken out is reduced, and the goods discharging reliability and accuracy are improved. Optionally, when the retainer for the ball is made of the cylindrical member, two ends of the cylindrical member can be mounted at the goods port through the rotating shaft, so that the whole cylindrical member can also rotate through the rotating shaft.

In this embodiment, an article sensor may be further disposed inside the blocking member of the cargo gate of the slope cargo path, where the article sensor is configured to detect whether there is cargo in the slope cargo path, and send the detection result to the controller. When there is no cargo in the ramp cargo path, the controller may send information to the associated terminal that replenishment is required. The article sensor may be in particular one or more of a photoelectric sensor, a laser sensor, an infrared sensor and an image recognition structure.

In this embodiment, the pick device 200 preferably employs a robotic arm structure.

At this time, as shown in fig. 1 and 7, the pick device 200 includes a rack 210 and a mechanical arm 220, where the rack 210 is disposed corresponding to the rack 100, the mechanical arm 220 is mounted on the rack 210 and can move, and a cargo grabbing portion may be disposed on the mechanical arm 220, where the cargo grabbing portion may specifically be a gripping device, or an adsorption device, or both of the gripping device and the adsorption device are disposed at the same time. The clamping device can specifically adopt a mechanical claw, the adsorption device can specifically adopt a vacuum chuck, and the mechanical claw device and the vacuum chuck device in the existing vending machine can be seen, so that the details are not repeated here.

In a specific arrangement, the frame 210 may include an up-down motion track and a left-right motion track, and the up-down motion motor and the left-right motion motor are respectively disposed corresponding to the up-down motion track and the left-right motion track. The mechanical arm 220 may be mounted on an up-and-down movement rail through a bracket, and the mechanical arm 220 is driven to move on the up-and-down movement rail by an up-and-down movement motor. Meanwhile, the upper end and/or the lower end of the up-and-down movement track is/are mounted on the left-and-right movement track, and the up-and-down movement track is driven to move on the left-and-right movement track by the left-and-right movement motor, so that the left-and-right movement of the mechanical arm 220 is realized. It should be noted that, the up-and-down movement and the horizontal movement of the goods taking device relative to the shelf, and the layer locating technology (such as cursor locating or photoelectric encoder locating commonly used) of the shelf all belong to the prior art, and are not described herein.

A preferred construction of the robotic arm 220 is shown in fig. 7. The robot arm 220 includes a traverse arm bar 221, a bracket 222, and a cargo gripping portion 223, one end of the traverse arm bar 221 is mounted on the frame 210 through the bracket 222, and the bracket 222 is movable with respect to the frame such that the traverse arm bar 221 can move with respect to the frame. The traverse arm 221 is provided with a cargo gripping portion 223, and specifically, the cargo gripping portion 223 is mounted on the traverse arm 221 through a slider 224. The corresponding slider 224 is provided with a traverse driving motor for driving the slider to move on the traverse arm bar 221, thereby fine-tuning the distance between the goods grasping portion 223 and the shelf laminate, so that the goods grasping portion 223 is convenient to grasp or adsorb the goods at the goods crossing.

Preferably, the pick device further comprises a detection switch 225 for detecting whether there is any cargo on the gripping device and/or the adsorbing device. The detection switch 225 may specifically include an optoelectronic proximity switch and/or a mechanical contact switch.

Preferably, the pick device may further comprise a visual identifier 226, the visual identifier 226 being mounted on the robotic arm, such as the slide 224 or the cargo gripping portion 223, for identifying the cargo gripped by the robotic arm.

In another embodiment of the utility model, a vending machine is also provided.

The vending machine comprises a machine shell, wherein the machine shell is provided with a goods taking opening, and the goods taking and delivering system in the embodiment is arranged in the machine shell.

Specifically, a cargo storage area and a control area may be provided within the enclosure. The storage area is provided with the aforementioned shelves and the control area may be provided with a controller and other electrical equipment. An operation panel for user operation and a goods taking port for user goods taking are arranged on the front panel of the shell corresponding to the controller. The operation panel may be an operation panel with physical mechanical buttons or an electronic touch operation screen. Specifically, the operation panel is used for realizing man-machine interaction, and can be used for a user to perform goods inquiry, goods purchase, goods taking operation and the like. The goods taking port can be provided with an electric door according to the requirement. The design of the control cabinet can refer to the prior art, and is not described herein.

Other man-machine interaction devices can be arranged on the vending machine according to the requirement, such as a mouse, a keyboard and the like for a user to input shopping information; and setting one or more of a camera, a loudspeaker, a card reader, a fingerprint collector and a face-brushing payment camera to acquire various information of a user. The card swiping device can comprise a bank card slot, a medical insurance card slot, an electronic tag reader and/or an RFID reader, and supports various payment operations of a user; the fingerprint collector can be used for collecting the fingerprint of a user to realize fingerprint payment; the face payment camera can be used for collecting face data of a user to trigger face payment operation. Of course, the scanning structure can also read two-dimensional codes, bar codes or other payment codes for payment to carry out payment operation.

Optionally, the casing may be provided with a wireless communication device capable of performing wireless communication with the buyer user terminal, so as to implement man-machine interaction. The wireless communication device is connected with the controller, and the controller of the vending machine can control the goods taking device to take goods according to the shopping operation of the user terminal of the buyer and transmit the goods to the goods taking port so as to be taken by the buyer.

It should be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions, and further, the terms "comprise," "include," or any other variation thereof, are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but also other elements that are not explicitly listed or inherent to such process, method, article, or apparatus, unless otherwise expressly stated or limited, are intended to be construed broadly by the terms "install," "connect," or "connect" such as a fixed connection, or a removable connection, or an integral connection; the connection may be direct, indirect, or internal, and it may be understood by those skilled in the art that the terms are meant to be exemplary of the present utility model.

In addition, while embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations may be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a get goods shipment system, includes goods shelves, gets goods device and controller, its characterized in that:

2. The pick delivery system of claim 1, wherein: the auxiliary shipment structure is a roller or a rolling shaft arranged on the goods road junction, the axial direction of the roller or the rolling shaft is parallel to the width direction of the slope goods road, and the roller or the rolling shaft is driven to rotate when goods move.

3. The pick delivery system of claim 2, wherein: when the rollers are adopted, a plurality of rollers are adopted, the rollers are axially connected in series to form a roller group with unit length, and the axial length of the roller group is matched with the width of the slope goods channel;

4. The pick delivery system of claim 1, wherein: the auxiliary shipment structure is the ball of installing on the goods way mouth, the ball passes through the holder and installs on the goods way mouth, holder fixed mounting is on the goods way mouth, and the axial length of holder matches with the width of slope goods way.

5. The pick delivery system of claim 4, wherein: the retainer is a rod piece, a row of ball mounting holes are formed in the rod piece, and a ball is mounted in each ball mounting hole;

6. The pick delivery system of claim 1, wherein: the goods taking device comprises a rack and a mechanical arm, the rack is arranged corresponding to the goods shelf, the mechanical arm is installed on the rack and can move, and the mechanical arm is provided with a clamping device and/or an adsorption device.

7. The pick delivery system of claim 6, wherein: the frame comprises an up-down motion track and a left-right motion track, and an up-down motion motor and a left-right motion motor are arranged corresponding to the up-down motion track and the left-right motion track.

8. The pick delivery system of claim 6, wherein: the goods taking device further comprises a detection switch, and the detection switch is used for detecting whether goods exist on the clamping device and/or the adsorption device;

9. The pick delivery system of claim 6, wherein: the goods taking device further comprises a visual identification piece, and the visual identification piece is arranged on the mechanical arm and used for identifying goods grabbed by the mechanical arm.

10. A vending machine comprising a casing provided with a pick-up port, characterized in that the pick-up and delivery system according to any one of claims 1 to 9 is provided in the casing.