WO2017063238A1

WO2017063238A1 - Self-service intelligent storing and taking device having interchange storing and taking trolley

Info

Publication number: WO2017063238A1
Application number: PCT/CN2015/093732
Authority: WO
Inventors: 钟高锋
Original assignee: 钟高锋
Priority date: 2015-10-16
Filing date: 2015-11-03
Publication date: 2017-04-20
Also published as: CN105600260A; CN105600260B

Abstract

A self-service intelligent storing and taking device having an interchange storing and taking trolley comprises a cabinet body (1), a cabinet door (2), and an automatic control system. The cabinet body (1) is internally provided with latticed storing and taking cases (3), and the latticed storing and taking cases (3) are internally provided with turnover boxes (31) in a one-to-one correspondence way. The cabinet door (2) is provided with a storing and taking door (4). A storing and taking trolley (5) and a planar moving device are arranged between the cabinet body (1) and the cabinet door (2). The storing and taking trolley (5) is arranged on the planar moving device. The storing and taking trolley (5) comprises an interchange housing (52). An outer opening (53) is provided on one side, which is close to the cabinet door (2), of the interchange housing (52); an inner opening (54) is provided on one side, which is far away from the cabinet door (2), of the interchange housing (52); and an inner storing and taking cavity (55) and an outer storing and taking cavity (56) which are vertically communicated are provided in the interchange housing (52). The inner storing and taking cavity (55) is communicated with the inner opening (54), and the outer storing and taking cavity (56) is communicated with the outer opening (53). The inner storing and taking cavity (55) is internally provided with a telescopic device (57) and a lifting device (58). A lifting transmission device is provided with a weighing sensor (582). The automatic control system is communicated with internet. The working performance is reliable, the plot ratio is high, the compatibility is strong, the application range is wide, the mechanism simplification cost is low, and the automation degree is high.

Description

Self-service intelligent access device with interchangeable access trolley

Technical field

The invention relates to the technical field of life service intelligent robot equipment, in particular to a self-service intelligent access device with an interchangeable access trolley.

Background technique

The vending machine is not limited by time and place, and the advantages of saving manpower and facilitating transactions are widely used. With the development of science and technology and the improvement of people's living standards, the development of the vending machine market has become more and more diversified and personalized. Currently, the internal vending machines of the common vending machines on the market are screwed, turntable, Crank-link transmission, track transmission, etc. are mainly used, and servos are used for automatic control. However, these shipping structures are either insufficient in volume ratio, or have poor compatibility, or complicated mechanisms, or insufficient reliability, which increases manufacturing. And maintenance costs; in addition, the goods distribution cabinet also appears in people's daily life, but it also has the disadvantages of poor volume ratio, small application range, and unfriendly operation interface; therefore, it is necessary to develop a new type of high volume ratio and compatibility. A shipping organization with strong, simplified organization, high reliability, and high degree of automation.

Summary of the invention

The invention is to solve the problems of the existing vending machine, the delivery cabinet of the article, the complicated structure and the high cost, the small application range, the unfriendly operation interface, etc., and provides a new type of high volume ratio, strong compatibility, wide application range and mechanism. Simplified self-service intelligent access device with low cost, high reliability and high degree of automation with an interchangeable access car.

In order to achieve the above object, the present invention adopts the following technical solution: a self-service intelligent access device with an interchangeable access trolley, including a cabinet, a cabinet door, an automatic control system, a side of the cabinet or a cabinet door One side is provided with a grid-like storage compartment, and the grid-shaped storage compartment is provided with a one-to-one corresponding turnover box, the cabinet door is provided with an access door, and the cabinet body and the cabinet door are provided Accessing the trolley, the plane moving device, the access trolley is disposed on the plane moving device, the access trolley includes an intercommunication enclosure, and the intercommunication enclosure is disposed adjacent to the cabinet door and has an external opening, the interworking enclosure An inner opening is disposed on a side of the cabinet door, and the inner and outer access chambers are vertically connected to each other, and the inner access chamber communicates with the inner open port, and the outer access chamber is The outer open ports are interconnected, and the inner access cavity is provided with a telescopic device and a lifting device. The telescopic device comprises a connected telescopic motor, a telescopic transmission device and a telescopic electromagnet, and the lifting device comprises a connected lifting motor, lifting Transmission, lifting and lowering Iron, is provided on the load cell apparatus of the lift transmission, the automatic control system in communication with the Internet. The solution is provided with a plurality of storage cells in the cabinet body, which are arranged in a grid shape. In addition to the side matching the cabinet door, a grid-like storage compartment can be arranged on two sides of the cabinet body or one side facing the cabinet door. The volume ratio of the articles is increased, and the turnover box is arranged in each storage compartment, and various kinds of articles can be placed in the turnover box, thereby improving compatibility and application range, the turnover box is an iron box, and the expansion device communicates the storage compartment and the internal access cavity. Through the movement and movement of the telescopic electromagnet, the turnover box can be taken out from the storage compartment and moved to the inner access cavity, and the lifting device communicates the inner storage cavity and the outer storage cavity, and the turnover box can be removed from the memory by the movement and action of the lifting electromagnet The cavity is raised to the external access cavity and transferred to the access gate with the access trolley After the removal, the item can be placed at the access door to the turnover box, and the item is lowered into the inner access cavity by accessing the outer access space of the trolley, and the turnover box is transferred to the corresponding storage compartment with the access trolley to realize automatic operation. The access process is automatic opening or closing; the telescopic electromagnet and the lifting electromagnet utilize a magnetically absorbing iron turnover box, and the load cell on the lifting and transmitting device is used to provide an automatic signal to the turnover box to the automatic Control system; the automatic control system controls various mobile devices, and can complete automatic inventory and automatic pick-up after receiving the command, and the automatic control system is connected to the Internet.

Preferably, the telescopic transmission device and the lifting transmission device are respectively one of a synchronous belt transmission, a sprocket chain transmission, a screw drive, and a rack and pinion transmission. The solution accessing the trolley moves the position in a plane by the plane moving device, and accesses the linear motion of the telescopic and lifting movements in the trolley to complete the three-dimensional movement of the item access, and the adopted structure is simple and effective, the plane movement, the telescopic expansion and the inside of the trolley The linear motion of the lifting can be carried out in a single transmission mode or in a mixture of several types.

Advantageously, said planar moving device comprises a horizontal moving device, a vertical moving device, said access car intercom housing being movably coupled to the vertical moving device. The horizontal moving device of the solution comprises a horizontal moving motor, a horizontal transmission device and two horizontal moving guide rails. The two horizontal moving rails are respectively arranged at the top and the bottom of the cabinet body, and the horizontal transmission device comprises a timing belt, a synchronous wheel and an encoder. The vertical moving device comprises a vertical moving motor, a vertical transmission, two vertical moving rails, and the vertical moving device is movably connected to the two horizontal moving rails, and the vertical transmission comprises a timing belt, a synchronous wheel, and a coding Device

The horizontal moving rail is fixed to the cabinet, and the vertical moving rail can move along the horizontal moving rail. The upper and lower sets of horizontal transmissions respectively pull the two ends of the vertical moving rail, and all adopt the synchronous belt transmission mode to ensure the upper and lower levels. The transmission device is synchronously movable, and the upper and lower correction synchronous wheels can be set. The upper and lower correction synchronous wheels are respectively kept coaxial with one of the upper and lower horizontal transmission devices, the upper and lower correction synchronous wheels are corrected to correct the timing belt connection, and the encoder detects the synchronous rotation number and the concurrent signal. Provide control parameters to the automatic control system;

The vertical moving device can be connected to the upper and lower horizontal transmission device to drive the whole movement. Two vertical moving guide rails can be used to access the trolley to move up and down. The vertical moving device uses the synchronous belt to pull the access car to move up and down, and the encoder detects the synchronous rotation. The number is concurrently signaled to the automatic control system to provide control parameters.

Preferably, the access opening of the access trolley is provided with a backboard, and the top of the access trolley is provided with a backplane lifting motor, and the backplane and the backplane lifting motor are connected by a backplane lifting and transmitting device, The backplane lifting gear is a rack and pinion transmission. When the program accesses the goods and the access door is opened, the outside of the cabinet can directly contact the grid-like storage compartment inside the cabinet through the inter-type access trolley, which has potential safety hazards, so the movable backboard is set and stored. When the door is opened, the access opening of the trolley is closed, the exterior of the cabinet and the grid-like storage compartment are blocked, and when the access door is closed, the backboard is moved to make the inner opening open, and the turnover box can be opened through the inside. Mouth movement.

Preferably, the grid-like storage compartment is provided with permanent magnets associated with each storage compartment, and the permanent magnets are fixed on the rear side panel of the cabinet. In this solution, the turnover box is placed in the storage compartment, and the telescopic electromagnet on the trolley is sucked into the turnover box and moved into the storage compartment to be powered off, and the permanent magnet attached to the storage compartment adsorbs the turnover box in place; When the turnover box is taken out, the telescopic electromagnet moves to the vicinity of the turnover box and is energized, and the suction force of the turnover box by the telescopic electromagnet is much larger than the suction force of the permanent magnet to the turnover box, and the turnover box can be taken out.

Preferably, the turnover box is a semi-closed box, and the turnover box comprises a box bottom and a box body, and the turnover box is provided with a guide chamfer and a chamfer. The front and rear direction of the turnover box of the solution does not change during the movement process, and the side of the turnover box facing the rear side of the cabinet is provided with a guide chamfer, which is guided by the interaction with the side of the storage compartment when the turnover box is transferred into the storage compartment. Function, and the side of the turnover box facing the door is chamfered for easy placement or removal; the bottom of the box is fixed or movable.

Preferably, the cabinet body is provided with a heating device and a refrigerating device. The access trolley of the solution is set as a circulation device, and the cabinet and the cabinet door are provided with an insulation layer, and a heater is arranged at the bottom of the cabinet body, and some or all of the sides of the cabinet body are provided with a refrigeration pipeline, and the compressor of the refrigeration device can be separately placed. It can also be placed at the bottom of the outer surface of the cabinet; in the state of heating or freezing and holding, the access trolley can be set to move up and down regularly to drive the air circulation in the cabinet to ensure the uniform temperature throughout the cabinet; the insulation layer can prevent heat circulation and save energy. .

Preferably, the door is provided with a touch screen, a code scanning gun and a horn, and the touch screen, the scanning code gun and the horn are all connected with the automatic control system. The touch screen and the scanning code gun can be used for stocking, operation when checking and checking, and the touch screen, scan code gun and speaker can provide a friendly human-machine interface to improve the user experience.

Therefore, the present invention has the following beneficial effects: (1) reliable working performance; (2) high volume ratio; (3) wide compatibility and wide application range; (4) low cost of mechanism simplification; and (5) high degree of automation.

DRAWINGS

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic view of an external structure of the present invention.

Figure 2 is a schematic illustration of an internal structure of the present invention.

Figure 3 is a schematic view showing the structure of the horizontal and vertical moving device of the present invention.

Fig. 4 is a schematic view showing the structure of the access trolley of the present invention.

FIG. 5 is a schematic structural view of the access cavity of the access vehicle of the present invention.

Fig. 6 is a perspective view showing a three-dimensional structure of the access trolley of the present invention.

Figure 7 is a schematic view showing the structure of the lifting and lowering device and the load cell of the present invention.

Figure 8 is a schematic exploded view of a structure of the turnover box of the present invention.

In the picture: 1, cabinet 2, cabinet door 21, touch screen 22, scan code gun 23, speaker

3, grid-like storage grid 31, turnover box 32, box bottom 33, box body

34, guide chamfer 35, take the chamfer 4, access the door 5, access the car

51, linear bearing 52, intercommunication shell 53, external open port 54, internal open

55, internal access cavity 56, external access cavity 57, telescopic device 571, telescopic electromagnet

58. Lifting device 581, lifting electromagnet 582, load cell 59, back plate

591, backplane lifting motor 6, horizontal moving motor 7, horizontal transmission

71. Horizontal timing belt 72, horizontal synchronous wheel 73, horizontal encoder

74. Correcting the synchronous wheel 75, correcting the timing belt 8, horizontal moving rail

9, vertical moving motor 10, vertical transmission 101, vertical timing belt

102. Vertical synchronous wheel 103, vertical encoder 11, vertical moving guide.

detailed description

The invention will be further described below in conjunction with the accompanying drawings.

In the embodiment shown in FIG. 1 to FIG. 6 , the self-service intelligent access device with the interchangeable access trolley includes a cabinet 1 , a cabinet door 2 , an automatic control system, and the interior of the cabinet 1 facing the cabinet door 2 . One side is provided with a grid-like storage compartment 3, and a grid-like storage compartment 3 is provided with a one-to-one corresponding turnover box 31. The cabinet door is provided with an access door 4, and an access is provided between the cabinet 1 and the cabinet door 2. The trolley 5, the plane moving device, the access trolley 5 are disposed on the plane moving device, the access trolley 5 includes the intercommunication casing 52, and the intercommunication casing 52 is disposed adjacent to the cabinet door 2 side with an outer opening 53, and the intercommunication casing 52 is away from the cabinet door 2 An inner opening 54 is disposed on one side, and an inner access cavity 55 and an outer access cavity 56 are disposed in the interposing housing 52. The inner access cavity 55 and the inner open port 54 communicate with each other, and the outer access cavity 56 and the outer open port 53 are provided. The internal access chamber 55 is provided with a telescopic device 57 and a lifting device 58. The telescopic device 57 includes a telescopic motor, a telescopic transmission device, and a telescopic electromagnet 571. The lifting device 58 includes a lifting motor, a lifting and lowering device, and a lifting electromagnet 581. A load cell 582 is disposed on the transmission device, and the automatic control system is connected to the Internet;

The telescopic transmission device is a synchronous belt transmission, and the lifting transmission device is a gear rack transmission. The telescopic transmission device comprises a motor connecting shaft, a timing belt, a synchronous wheel, a guide rail and a travel switch, and the telescopic electromagnet 571 can slide on the guide rail, and the lifting transmission device comprises The motor connecting shaft, the gear, the rack, the chute, the travel switch, and the lifting electromagnet 581 can slide in the chute with the rack;

The planar moving device comprises a horizontal moving device, a vertical moving device, and the access car intercom housing is movably connected with the vertical moving device, the horizontal moving device comprises a horizontal moving motor 6, a horizontal transmission device 7, two horizontal moving guides 8, two The horizontal moving rails 8 are respectively disposed at the top and the bottom of the cabinet 1, and the horizontal transmission device 7 includes a horizontal timing belt 71, a horizontal synchronization wheel 72, a horizontal encoder 73, a correction synchronization wheel 74, a correction timing belt 75, and the vertical movement device includes a vertical moving motor 9, a vertical transmission 10, two vertical moving rails 11, the vertical moving device is movably connected to the two horizontal moving rails 8, and the vertical transmission 10 includes a timing belt 101, a synchronous wheel 102, Encoder 103;

Two linear bearings 51 are arranged on the outer side of the access trolley 5, and the two linear bearings 51 are respectively matched with the two vertical moving guides 11;

The inner opening 54 of the access cart 5 is provided with a back plate 59, and the top of the access cart 5 is provided with a back plate lifting motor 591. The back plate and the 59 back plate lifting motor 591 are connected by a back plate lifting and transmitting device, and the back plate lifting and lowering transmission device is Rack and pinion transmission;

The grid-like storage compartment 3 is provided with permanent magnets associated with each storage compartment, and the permanent magnets are fixed on the rear side panel of the cabinet 1;

The turnover box 31 is a semi-closed box, and the turnover box 31 includes a box bottom 32 and a box body 33. The turnover box 31 is provided with a guide chamfer 34 and a chamfer 35;

The cabinet 1 is provided with a heating device and a refrigerating device, the access trolley 5 is set as a circulation device, and the cabinet 1 and the cabinet door 2 are provided with an insulation layer;

The door 2 is provided with a touch screen 21, a scan code gun 22, and a horn 23, and the touch screen 21, the scan code gun 22, and the horn 23 are all connected to the automatic control system.

The specific implementation process is that the access car 5 is used to access the door 4 as an initial point. In the automatic inventory, the automatic control system starts the inventory mode, and after inputting the signal, the access car 5 is moved to the grid by the planar moving device. Corresponding to compartment 3 The position of the storage cell, the back plate 59 rises upward to make the inner opening 54 unobstructed, the telescopic electromagnet 571 moves horizontally and protrudes into position, and is energized. The magnetic attraction force of the telescopic electromagnet 571 is greater than the magnetic attraction of the rear permanent magnet of the storage cell, the telescopic electromagnet 571 adsorbs the inner box 31 which is empty inside and then retracts to the original position, the back plate 59 closes the inner opening 54 downwardly, and the access cart 5 moves to the initial point by the plane moving device, and the lifting electromagnet 581 is energized and adsorbs the turnover. The cassette bottom 32, the load cell 582 records the weight signal, and after the lifting electromagnet 581 is vertically moved up into position, the access door 4 is opened, and the user places the article on the bottom 32 through the outer opening 53, and the load cell 582 is generated. After the door 4 is safely closed, the lifting electromagnet 581 is lowered into position and powered off, and the access car 5 is moved by the plane moving device to the corresponding storage position of the grid-like storage cell 3, and the back plate 59 is raised. The inner opening 54 is unobstructed, the revolving electromagnet 571 is energized and the rotating box 31 which adsorbs the inner item is horizontally extended and protruded into position, the telescopic electromagnet 571 is powered off and retracted, and the back plate 59 is closed downwardly and closed. Mouth 54, yong The adsorption-Box body 31, access to the car 5 is moved to the initial position in the plane of the mobile device driven;

In the automatic picking up, the automatic control system starts the pickup mode. After inputting the signal, the access trolley 5 is moved to the corresponding storage compartment position of the grid-like storage compartment 3 by the plane moving device, and the backboard 59 is raised upwards. The opening 54 is unobstructed, and the telescopic electromagnet 571 is horizontally moved and extended in position, and is energized. The magnetic attraction force of the telescopic electromagnet 571 is greater than the magnetic attraction of the permanent magnet at the rear of the storage cell, and the telescopic electromagnet 571 is sucked back to the original box 31 with the article inside. Position, the back plate 59 closes the inner opening 54 downwardly, the access cart 5 is moved to the initial point by the plane moving device, the lifting electromagnet 581 is energized and sucks the box bottom 32 of the turnover box 31, and the load cell 582 records the weight signal. After the lifting electromagnet 581 is vertically moved up into position, the access door 4 is opened, the user takes out the article through the outer opening 53, and the load cell 582 generates a signal. After the access door 4 is safely closed, the lifting electromagnet 582 is lowered. When the power is turned off and the power is turned off, the access car 5 is moved to the corresponding storage compartment position of the grid-like storage compartment 3 by the plane moving device, the backing plate 59 is raised upward, the inner opening 54 is unobstructed, and the telescopic electromagnet 571 is energized. The rotating box 31, which is vacant inside, is horizontally extended and protruded into position, the telescopic electromagnet 571 is powered off and retracted to the original position, and the backing plate 59 is lowered to close the inner opening 54, and the permanent magnet adsorbs the turnover box 31 to access the trolley. 5 moving to the initial position under the driving of the plane moving device;

The automatic control system can also connect or send signals to the backend server through the Internet connection background server;

When the cabinet 1 is in a state of heating or freezing and holding, the access cart 5 can be set to move up and down regularly to drive the air circulation in the cabinet 1, thereby ensuring uniform temperature in the cabinet 1.

Claims

The utility model relates to a self-service intelligent access device with an interchangeable access trolley, which comprises a cabinet, a cabinet door and an automatic control system, characterized in that the side of the cabinet body or the side facing the cabinet door is provided with a grid shape. a storage compartment, wherein the grid-shaped storage compartment is provided with a one-to-one corresponding turnover box, the cabinet door is provided with an access door, and an access trolley and a plane movement are arranged between the cabinet and the cabinet door. The access trolley is disposed on the plane moving device, the access trolley includes an intercommunication enclosure, and the intercommunication enclosure is provided with an external opening on a side close to the cabinet door, and the intercommunication enclosure is disposed away from the cabinet door side. An internal opening, an internal access cavity and an external access cavity are provided in the inter-connecting housing, wherein the internal access cavity communicates with the internal open port, and the external access cavity and the external open port communicate with each other. The inner access chamber is provided with a telescopic device and a lifting device. The telescopic device comprises a connected telescopic motor, a telescopic transmission device and a telescopic electromagnet. The lifting device comprises a connected lifting motor, a lifting and lowering device, and a lifting electromagnet. On the lifting gear Weighing sensor, the automatic control system in communication with the Internet.
The self-service intelligent access device with an interchangeable access trolley according to claim 1, wherein the telescopic transmission device and the lifting transmission device are synchronous belt transmission, sprocket chain transmission, screw drive, One of the rack and pinion transmissions.
The self-service intelligent access device with an interchangeable access trolley according to claim 1, wherein the planar moving device comprises a horizontal moving device and a vertical moving device, and the accessing car intercommunication shell and The vertical mobile device is movably connected.
The self-service intelligent access device with an interchangeable access trolley according to claim 1, wherein the access opening of the access trolley is provided with a backboard, and the top of the access trolley is provided with a backplane lifting The motor, the back plate and the back plate lifting motor are connected by a back plate lifting and transmitting device, and the back plate lifting and transmitting device is a rack and pinion transmission device.
The self-service intelligent access device with an interchangeable access trolley according to claim 1, wherein the grid-like storage compartment is provided with a permanent magnet associated with each storage compartment, The permanent magnets are fixed to the rear side panel of the cabinet.
The self-service intelligent access device with an interchangeable access trolley according to claim 1, wherein the turnover box is a semi-closed box, and the turnover box comprises a box bottom, a box body, and the turnover box. Guided chamfering and chamfering.
The self-service intelligent access device with an interchangeable access trolley according to claim 1, wherein the cabinet body is provided with a heating device and a refrigeration device.
The self-service intelligent access device with an interchangeable access trolley according to claim 1, wherein the cabinet door is provided with a touch screen, a scan code gun, a horn, the touch screen, a scan code gun, The speakers are connected to the automatic control system.