WO2018130112A1

WO2018130112A1 - Delivery apparatus and control apparatus thereof, and self-service device

Info

Publication number: WO2018130112A1
Application number: PCT/CN2018/071345
Authority: WO
Inventors: 张连清; 盖玉先; 黄海忠; 杨舜博; 吕琪; 张继刚
Original assignee: 山东新北洋信息技术股份有限公司
Priority date: 2017-01-11
Filing date: 2018-01-04
Publication date: 2018-07-19
Also published as: CN108305379B; CN108305379A

Abstract

A delivery apparatus and a control apparatus thereof, and a self-service device. The delivery apparatus comprises: a rack (1), a platform (2) movably connected to the rack (1), and a centering mechanism (3) mounted on the rack (1). The centering mechanism (3) comprises a first limit component (33) and a second limit component (34); the first limit component (33) comprises a first limit plate (332); the second limit component (34) comprises a second limit plate (342); the platform (2) is provided between the first limit plate (332) and the second limit plate (342); the first limit plate (332) and the second limit plate (342) can synchronously move in opposite directions to approach the platform (2), so that an object placed on the platform (2) is centered.

Description

Delivery device and its control device and self-service device

Technical field

The present disclosure relates to the field of robotics, for example, to a delivery device and control device and self-service device.

Background technique

With the development of society, self-service equipment such as self-service vending machines and self-service express cabinets are more and more widely used because they are not limited by time and place, save manpower, and facilitate transactions. The self-service device generally includes a cabinet, a storage device disposed inside the cabinet, a delivery device, and a driving device, wherein an access port is disposed on a surface of the cabinet, and the storage device includes a plurality of ports for storing articles; a delivery device for delivering an item between the access port and the mouthpiece, the drive device for driving the delivery device to move in at least one of a horizontal direction and a vertical direction to cause the delivery device to be associated with the access port or the set position Oppositely, when the delivery device is opposite the access opening, the article can be placed on the delivery device by the access opening, and the delivery device can deliver the article into the compartment when the delivery device is opposite the designated location, or The delivery device takes the item in the compartment and takes it to the access opening.

Wherein the delivery device comprises a platform for supporting the article, a vertical movement mechanism for driving the platform to move in the up and down direction, and a horizontal movement mechanism for driving the platform to move in the front-rear direction, when the delivery device is opposite to the access port, the user accesses The mouth places the item on the platform, the driving device drives the delivery device to move, the delivery device is opposite to the setting position, the vertical moving mechanism drives the platform to move upward, lifts the item, and then the horizontally moving mechanism drives the platform to insert the grid Inside the mouth, the vertical moving mechanism again drives the platform to move downward, placing the article on the pallet in the compartment, and finally the horizontal moving mechanism drives the platform to retract. The problem with such a delivery device is that since the item is manually placed on the platform by the user, the position at which the item is placed may be skewed relative to the middle of the platform. When the platform moves in the up and down direction or the front and rear direction, the object may be detached from the platform due to gravity. , causing equipment failure.

Summary of the invention

The present disclosure provides a delivery device and a control device and a self-service device to alleviate the technical problem in the related art that an article is detached from the platform during the movement due to the skew of the article placement.

The present disclosure provides a delivery device including a frame, a platform movably coupled to the frame, and a centering mechanism mounted to the frame; the centering mechanism includes a first limit component and a second limit component, the first limit component The first limiting plate includes a second limiting plate, and the platform is disposed between the first limiting plate and the second limiting plate, and the first limiting plate and the second limiting plate are synchronously opposite. Move to the platform at the same time, centering the items placed on the platform.

Optionally, the delivery device further includes a detecting mechanism, the detecting mechanism includes a first detecting component and a second detecting component; the first detecting component is disposed on the first limiting component, and is configured to detect whether the first limiting plate is in contact with the article, The second detecting component is disposed on the second limiting component and configured to detect whether the second limiting plate is in contact with the article.

Optionally, the first detecting component includes a first sensor and a first detecting portion; the first sensor is fixedly connected to the first limiting component, and is configured to detect a position of the first detecting portion; the first detecting portion and the first limiting component Connecting, and having an initial position and a retracted position relative to the first limiting plate; when the first detecting portion is in the initial position, the first detecting portion protrudes from the first limiting plate; when the first detecting portion is in the retracted position The first detecting portion is retracted into the first limiting plate;

The second detecting component includes a second sensor and a second detecting portion; the second sensor is fixedly connected to the second limiting component, and is configured to detect a position of the second detecting portion; the second detecting portion is connected to the second limiting component, and is opposite The second limiting plate has an initial position and a retracted position; when the second detecting portion is in the initial position, the second detecting portion protrudes from the second limiting plate; when the second detecting portion is in the retracted position, the second detecting portion The part is indented into the second limit plate.

Optionally, the first detecting component further includes a first rotating shaft, the first detecting portion is hinged with the first limiting component by the first rotating shaft, and the first detecting portion is rotatable about the axis of the first rotating shaft to realize the initial position and the contraction Switching between the return positions; the second detecting component further includes a second rotating shaft, the second detecting portion is hinged to the second limiting component by the second rotating shaft, and the second detecting portion is rotatable about the axis of the second rotating shaft to realize the initial position Switch between retracted position.

Optionally, the first detecting component and the second detecting component are symmetrically disposed about the platform.

Optionally, the centering mechanism further includes a motor and a transmission component; the motor is fixed to the frame, and the driving transmission component is configured to drive the first limiting component and the second limiting component to synchronously move in opposite directions.

Optionally, the transmission component includes a transmission rod, a first transmission component and a second transmission component; the motor can drive the transmission rod to rotate about the transmission rod axis; the first transmission component is fixedly connected with the first limiting component, and the second transmission component and the second transmission component The second limiting component is fixedly connected; the first end of the transmission rod is provided with a first thread, the second end of the transmission rod is provided with a second thread, and the first thread and the second thread are oppositely rotated, the first transmission member and the transmission rod The first threaded connection, the second transmission member is coupled to the second thread of the transmission rod.

Optionally, the transmission rod is shaft-shaped and the threads at both ends of the transmission rod are respectively externally threaded, and the first transmission member and the second transmission member are respectively cylindrical and the threads of the first transmission member and the threads of the second transmission member are respectively inner Or the transmission rod is cylindrical and the threads at both ends of the transmission rod are respectively internal threads, the first transmission member and the second transmission member are both shaft-shaped and the threads of the first transmission member and the threads of the second transmission member are external Thread.

Optionally, the transmission assembly is a rack and pinion transmission structure.

Optionally, the centering mechanism further includes a guiding assembly, the guiding assembly is coupled to the frame, wherein the guiding assembly comprises a first guiding assembly and a second guiding assembly, the first guiding assembly is configured to guide the first limiting plate in a set direction Moving, the second guiding assembly is arranged to guide the second limiting plate to move in a direction opposite to the set direction.

The present disclosure also provides a control device configured to control the above-described delivery device, including a centering drive unit, a centering determination unit, and a centering stop unit; a centering drive unit, a motor-driven delivery device configured to control the delivery device a limit plate and a second limit plate are synchronized to the platform of the delivery device; the centering determining unit is configured to detect an output signal of the first detecting component of the delivery device and the second detecting component of the delivery device, when the first detecting component outputs When the detection signal of the first limiting plate contacting the article and the detecting signal of the second detecting component contacting the second limiting plate and the article are determined, the article is determined to be placed on the platform; the centering stopping unit is set to be in the centering determining unit. After judging that the article is placed on the platform, the control motor stops rotating, so that the first limiting plate and the second limiting plate stop moving.

The present disclosure also provides a self-service device, comprising a cabinet, a storage device disposed in the cabinet, a driving device, the above-mentioned delivery device, and the above-mentioned control device; the cabinet includes a panel, the panel has an access port; the delivery device is disposed in the storage Between the object device and the panel, it is arranged to deliver the item placed by the access port to the storage device or to deliver the item in the storage device to the access opening under the driving of the driving device.

The delivery device provided by the present disclosure avoids the problem of detachment from the platform during the movement of the platform due to the deflection of the article placed on the platform.

DRAWINGS

1 is a schematic structural view of a delivery device according to an embodiment;

2 is a cross-sectional view showing the structure of a delivery device according to an embodiment;

3 is a schematic structural diagram of a first detecting component of a delivery device according to an embodiment;

4 is a schematic structural view of a delivery device according to another embodiment;

FIG. 5 is a schematic diagram of a module composition of a control device of a delivery device according to an embodiment; FIG.

6 is a schematic structural diagram of a self-service device according to an embodiment;

FIG. 7 is a schematic diagram of an internal structure of a self-service device according to an embodiment.

In the figure: 1-frame; 2-platform; 3-centering mechanism; 4-detection mechanism; 11-left wall; 12-right wall; 13- top wall; 15-support plate; 16-guide plate; Support frame; 151-left support plate; 152-right support plate; 161-left guide plate; 181-first side plate; 182-connecting plate; 183-second side plate; 31-motor; 32-transmission assembly; - first limit assembly; 34 - second limit assembly; 321 - drive rod; 322 - first transmission member; 323 - second transmission member; 324 - gear set; 331 - first support frame; Limiting plate; 341-second support frame; 342-second limit plate; 35-first guide assembly; 36-second guide assembly; 351-fixing member; 352-moving member; 361-fixing member; Moving element; 41-first detecting component; 42-second detecting component; 411-first sensor; 412-first detecting portion; 413-first rotating shaft; 414-first elastic member; 421-second sensor; - second detecting portion; 423 - second rotating shaft; 424 - second elastic member; 402 - centering driving unit; 404 - centering determining unit; 406 - centering stopping unit; 100 - cabinet; 300-delivery device; 101-panel; 102-access port ; 201- lattice; 202- pallet; 400-drive device.

detailed description

In the description of the present invention, it is to be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. The orientation or positional relationship of the indications is based on the orientation or positional relationship shown in the drawings, and is merely for the convenience of the description of the invention and the simplified description, rather than indicating or implying that the device or component referred to has a specific orientation, in a specific orientation. The construction and operation are therefore not to be construed as limiting the invention. Moreover, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

In the description of the present invention, it should be noted that the terms "installation", "connected", and "connected" are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components. The specific meaning of the above terms in the present invention can be understood in a specific case by those skilled in the art.

In the embodiment of the present invention, unless otherwise specified, the term "left-right direction" refers to the direction indicated by the arrow ab in FIG. 1, and the term "front-to-back direction" refers to the direction indicated by the cd arrow in FIG. 1, and the term "up and down direction". It refers to the direction indicated by the arrow ef in Figure 1, and the other directions are based on the above direction.

1 is a schematic structural view of a delivery device according to an embodiment, and FIG. 2 is a cross-sectional view showing the structure of a delivery device according to an embodiment.

The present embodiment provides a delivery device. As shown in FIGS. 1 and 2, the delivery device includes a chassis 1, a platform 2 movably coupled to the chassis 1, and a centering mechanism 3 mounted to the chassis 1. The centering mechanism 3 includes a first limiting component 33 and a second limiting component 34. The first limiting component 33 includes a first limiting plate 332, and the second limiting component 34 includes a second limiting plate 342. Between the first limiting plate 332 and the second limiting plate 342, the first limiting plate 332 and the second limiting plate 342 can synchronously move in the opposite direction while approaching the platform 2 to center the articles placed on the platform 2.

The first limiting plate 332 and the second limiting plate 342 are synchronously moved in the opposite direction to the platform 2 in the left-right direction, so that the articles placed on the platform 2 are centered in the left-right direction with respect to the center line of the platform 2.

A delivery device comprising: a frame 1, a platform 2 movably coupled to the frame 1, and a centering mechanism 3 mounted to the frame 1; the centering mechanism 3 includes a first limit assembly 33 and a second limit assembly 34 The platform 2 is located between the first limiting component 33 and the second limiting component 34. The arrangement direction of the first limiting component 33 and the second limiting component 34 is perpendicular to the centerline of the platform 2 and parallel to the bearing surface of the platform. The first stop assembly 33 and the second limit assembly 34 can be synchronously moved in a reverse direction perpendicular to the centerline of the platform 2 and parallel to the load bearing surface of the platform 2 to center the items placed on the platform.

In this embodiment, the frame 1 includes a support frame 18, and the support frame 18 includes a first side plate 181, a connecting plate 182, and a second side plate 183. In this embodiment, the first side plate 181 and the second side plate 183. Arranged in parallel in the left-right direction, the connecting plate 182 is vertically connected between the first side plate 181 and the second side plate 183; the platform 2 has a rectangular plate-like structure, and the length of the platform 2 extends in the front-rear direction, and the upper surface thereof is used. For supporting the article, the platform 2 is movably connected to the rack 1 and is capable of performing at least one of the following operations with respect to the rack 1 : reciprocating the first set distance in the up and down direction and reciprocating the second set distance in the front and rear direction.

The embodiment provides a delivery device 300 comprising: a frame 1, a platform 2 movably connected to the frame 1, and a centering mechanism 3 mounted to the frame 1; the centering mechanism 3 includes a first limit component 33 and a The second limiting component 34 includes a first limiting plate 332, and the second limiting component 34 includes a second limiting plate 342. The platform 2 is disposed on the first limiting plate 332 and the second limiting plate. Between 342, the first limiting plate 332 and the second limiting plate 342 are synchronously moved in the opposite direction while being close to the platform 2, so that the objects placed on the platform 2 are centered; the articles are placed on the platform during the movement of the platform 2 There is a problem that there is deflection on the 2 and the platform 2 is detached.

The centering mechanism 3 is mounted on the frame 1 for adjusting the position of the item placed on the platform 2 such that the item is centered relative to the platform 2 in the left-right direction. The centering mechanism 3 includes a motor 31, a transmission assembly 32, a first limiting component 33 and a second limiting component 34, wherein the motor 31 is fixedly mounted to the frame 1 for driving the transmission component 32 to drive the first limiting component 33. Synchronously moving in reverse with the second limiting component 34; optionally, the motor 31 is fixed on the second side plate 183; the transmission component 32 is for transmitting the power output by the motor 31 to the first limiting component 33 and the second limit The position component 34; the first limit component 33 and the second limit component 34 are respectively located on the left and right sides of the platform 2, and are movably connected to the frame 1 through the transmission component 32. When the output shaft of the motor 31 rotates, the transmission component 32 is passed. The first limiting component 33 and the second limiting component 34 can be synchronously moved in the opposite direction in the left-right direction while being close to or away from the platform 2.

The transmission assembly 32 includes a transmission rod 321, a first transmission member 322 and a second transmission member 323, wherein the longitudinal direction of the transmission rod 321 extends in the left-right direction, and the transmission rod 321 is vertically supported on the first side plate 181 of the support frame 18 and On the second side plate 183, the left and right ends of the transmission rod 321 are respectively provided with oppositely-rotating threads, the transmission rod 321 is drivingly connected with the motor 31, and the motor 31 can drive the transmission rod 321 to rotate around the axis of the transmission rod 321 when the motor 31 is When the output shaft rotates in the first direction or in the second direction opposite to the first direction, the transmission rod 321 can be driven to rotate synchronously about its own axis; the first transmission member 322 is fixedly connected with the first limiting component 33, and the second transmission member The second limiting member 34 is fixedly connected to the second limiting component 34. The two ends of the transmission rod 321 are respectively threaded and oppositely rotated. The first transmission member 322 is screwed to the first end of the transmission rod 321, and the second transmission member 323 and the transmission rod are connected. The second end of the 321 is threaded. In this embodiment, the first transmission member 322 and the second transmission member 323 are respectively provided with threads along respective axial directions, and the first transmission member 322 is engaged with the left end of the transmission rod 321 by a screw connection; the second transmission member 323 and the transmission The right end of the rod 321 is engaged by a threaded connection.

When the motor 31 drives the transmission rod 321 to rotate, the first transmission member 322 and the second transmission member 323 can be synchronously moved in the opposite direction along the longitudinal direction of the transmission rod 321 . Since the longitudinal direction of the transmission rod 321 extends in the left-right direction, the driving member 321 can be driven. The first limiting component 33 and the second limiting component 34 synchronously move in opposite directions in the left and right direction. When the output shaft of the motor 31 rotates in the first direction, the rotation of the transmission rod 321 drives the first transmission member 322 and the second transmission member 323 to move toward the platform 2 in the left-right direction, thereby driving the first limiting component. 33 and the second limiting component 34 are simultaneously close to the platform 2; when the output shaft of the motor 31 rotates in the second direction, the driving rod 321 rotates to drive the first transmission member 322 and the second transmission member 323 to move away from the platform 2 in the left-right direction. The direction moves to drive the first limiting component 33 and the second limiting component 34 away from the platform 2 at the same time.

In this embodiment, the transmission rod 321 can be connected to the motor 31 through the gear set 324 or the transmission belt. In this embodiment, the transmission rod 321 is drivingly connected to the motor 31 through the gear set 324. The gear set 324 includes a plurality of meshing connection gears. The first gear of the meshing gears is fixedly sleeved on the output shaft of the motor 31, and the last one of the plurality of meshing gears is fixedly sleeved on the transmission rod 321, when the output shaft of the motor 31 rotates, The transmission rod 321 can be driven to rotate synchronously through the gear set 324.

In this embodiment, the transmission rod 321 is shaft-shaped, and the left and right ends of the transmission rod 321 are provided with external threads. Accordingly, the first transmission member 322 and the second transmission member 323 are both cylindrical, the first transmission member 322 and the second. The inside of the transmission member 323 is provided with internal threads. Optionally, the transmission rod 321 can be cylindrical, and the left and right ends of the transmission rod 321 are provided with internal threads. The first transmission member 322 and the second transmission member 323 are both shaft-shaped, and the first transmission member 322 and the second transmission member 323 are 323. The external setting is externally threaded.

Optionally, the transmission assembly 32 can also adopt a rack and pinion transmission structure. The transmission assembly 32 includes a gear and two racks that are meshed with the gear. The two racks are disposed in parallel on both sides of the gear and are opposite to the center of the gear. The point center is symmetrical. Optionally, the gear is drivingly coupled to the motor 31, and is rotatable about the axis thereof under the driving of the motor 31; the lengths of the two racks extend in the left-right direction, and one of the two racks is connected to the first limiting component 33. The other of the two racks is connected to the second limiting component 34. When the motor 31 drives the gear to rotate, the first limiting component 33 and the second limiting component 34 can be synchronously reversely moved by the two racks. .

The transmission assembly 32 described above can also take the form of a ball screw.

The first limiting frame 33 includes a first supporting frame 331 and a first limiting plate 332. The first supporting frame 331 is fixedly connected to the first transmitting member 322, and the first limiting plate 332 is fixedly connected to the first supporting frame 331. The length of the first limiting plate 332 extends in the front-rear direction, and the surface of the first limiting plate 332 is perpendicular to the upper surface of the platform 2; the second limiting component 34 includes a second supporting frame 341 and a second limiting plate 342. The second support frame 341 is fixedly connected to the second transmission member 323, the second limiting plate 342 is fixedly connected to the second support frame 341, and the length of the second limiting plate 342 extends in the front-rear direction, and the second limiting plate is extended. The 342 panel is disposed perpendicular to the upper surface of the platform 2. The first limiting plate 332 and the second limiting plate 342 are disposed on the left and right sides of the platform 2 to form an accommodation space of the article. By adjusting the spacing between the first limiting plate 332 and the second limiting plate 342, The width of the accommodation space in the left and right direction can be adjusted.

When the motor 31 drives the transmission assembly 32 to drive the first transmission member 322 and the second transmission member 323 to synchronously move in the opposite direction, the first limiting plate 332 and the second limiting plate 342 move synchronously with the transmission assembly 32, and are close to or Stay away from platform 2. Optionally, when the distance between the first limiting plate 332 and the second limiting plate 342 is the largest, the first limiting component 33 and the second limiting component 34 are both located at an initial position, the first limiting plate 332 and the first The distance between the two limiting plates 342 is adapted to the maximum size of the articles conveyed by the delivery device 300; when the distance between the first limiting plate 332 and the second limiting plate 342 is the smallest, the first limiting component 33 and The second limit assemblies 34 are all located at extreme positions, and the spacing between the first stop plate 332 and the second limit plate 342 is adapted to the minimum size of the articles conveyed by the delivery device 300.

Optionally, when the platform 2 is moved to the highest position in the up and down direction, the lower edges of the first limiting plate 332 and the second limiting plate 342 are lower than the upper surface of the platform 2, so even if the items placed on the platform 2 are Very thin, the first limiting plate 332 and the second limiting plate 342 can still be pushed centrally on the platform 2 by the left and right sides of the platform 2.

Optionally, the delivery device 300 also includes a detection mechanism 4.

The detecting mechanism 4 includes a first detecting component 41 and a second detecting component 42. The first detecting component 41 is disposed on the first limiting component 33 for detecting whether the first limiting plate 332 is in contact with the article. The second detecting component 42 is disposed on the second limiting component 34 for detecting whether the second limiting plate 342 is in contact with the article.

Optionally, the first detecting component 41 is configured to detect whether the first limiting plate 332 is in full contact with the article, and the second detecting component 42 is configured to detect whether the second limiting plate 342 is in full contact with the article. When the limiting plate 332 is in full contact with the article, the first limiting plate 332 is parallel to the side of the article. When the second limiting plate 342 is in full contact with the article, the second limiting plate 342 is parallel to the side of the article.

FIG. 3 is a schematic structural diagram of a first detecting component 41 of a delivery device according to an embodiment. As shown in FIG. 3, the first detecting component 41 includes a first sensor 411, a first detecting portion 412, a first rotating shaft 413, and a first The first sensor 411 is fixedly connected to the first support frame 331 for detecting the position of the first detecting portion 412; the first detecting portion 412 is movably connected with the first limiting component 33, and is opposite to the first limit. Plate 332 has an initial position and a retracted position. In this embodiment, the first detecting portion 412 is hinged to the first limiting component by the first rotating shaft 413, and the first detecting portion 412 is hinged to the first supporting frame 331 by the first rotating shaft 413, and the first detecting portion 412 can be wound around the first The shaft 413 is rotated to switch between the initial position and the retracted position. When the first detecting portion 412 is located at the initial position, the first detecting portion 412 protrudes from the first limiting plate 332, that is, the first detecting portion 412 extends through the opening of the first limiting plate 332 to receive The first detection unit 412 is separated from the first sensor 411, and the first sensor 411 outputs a first signal; when the first detection unit 412 is in the retracted position, the first detection unit 412 is retracted to the first limit. The first detecting portion 412 is engaged with the first sensor 411, and the first sensor 411 outputs a second signal; one end of the first elastic member 414 and the first detecting portion 412. The other end is connected to the first support frame 331, and the first detecting portion 412 always has a tendency to rotate toward the initial position under the elastic force of the first elastic member 414. Optionally, when the first detecting portion 412 is located at the initial position, the portion of the first detecting portion 412 that protrudes into the receiving space has a plate shape and is disposed parallel to the plate surface of the first limiting plate 332. The contact area of the detecting portion 412 with the article.

In this embodiment, the first detecting portion 412 may be a spring piece.

The second detecting component 42 is symmetrically disposed with respect to the platform 2 with the first detecting component 41, and the second detecting component 42 is symmetrically disposed with respect to the width of the first detecting component 41 with respect to the width of the platform 2 in the left-right direction. The second detecting component 42 includes a second sensor 421, a second detecting portion 422, a second rotating shaft 423, and a second elastic member 424, wherein the second sensor 421 is fixedly connected to the second limiting component 34, and the second sensor 421 is The second support frame 341 is fixedly connected, and the second detecting portion 422 is movably connected to the second limiting member 34, and has an initial position and a retracted position with respect to the second limiting plate 342. The second detecting portion 422 is hinged to the second limiting member 34 via the second rotating shaft 423, the second detecting portion 422 is hinged to the second supporting frame 341 by the second rotating shaft 423, and the second detecting portion 422 is rotatable about the second rotating shaft 423. To achieve switching between the initial position and the retracted position. When the second detecting portion 422 is located at the initial position, the second detecting portion 422 protrudes from the second limiting plate 342, that is, the second detecting portion 422 extends through the opening of the second limiting plate 342 into the receiving space. A second distance detecting portion 422 is separated from the second sensor 421, and the second sensor 421 outputs a first signal. When the second detecting portion 422 is in the retracted position, the second detecting portion 422 is indented into the second limiting plate. 342, that is, the second detecting portion 422 exits the accommodating space. At this time, the second detecting portion 422 cooperates with the second sensor 421, and the second sensor 421 outputs the second signal; the first end of the second elastic member 424 and the second detecting portion 422 The second end is connected to the second support frame 341. The second detecting portion 422 always has a tendency to rotate toward the initial position under the elastic force of the second elastic member 424.

In this embodiment, the first detecting portion 412 is movable in parallel with respect to the first supporting frame 331 , and has an initial position and a retracted position with respect to the first limiting plate 332 , and the first supporting frame 331 has a length extending in the left and right direction. The first detecting portion 412 is inserted into the long slot and can be moved along the length of the long slot to switch between the initial position and the retracted position. The second detecting portion 422 can be opposite to the second supporting frame 341. The second detecting portion 341 has a long slot extending in the left-right direction, and the second detecting portion 422 is inserted and matched with the long slot, and can be long along the second limiting plate 341. The length of the slot is moved to switch between the initial position and the retracted position.

The detecting mechanism 4 may be in another form. The detecting mechanism 4 includes a first light detecting element and a second light detecting element disposed on two sides of the platform 2. The first light detecting element is distributed on the first side of the transmission rod. The second light detecting component is distributed on the second side of the transmission rod. When the first limiting plate is in contact with the article, it may affect the light irradiation of the first light detecting component facing the first end of the article, and the first light detecting component emits the first signal. When the second limiting plate is in contact with the article, it may affect the light irradiation of the second light detecting element portion facing the second end of the article, and the second light detecting component emits the first signal, when the first light detecting component and the second light When the detecting component sends the first signal, the first limiting component and the second limiting component stop moving in opposite directions.

Optionally, the centering mechanism 3 further includes a guiding assembly connected to the frame 1 for guiding the first limiting plate 332 to move in a set direction and guiding the second limiting plate 342 to be opposite to the setting direction. The direction of movement. The setting direction may be a direction in which the first limiting plate 332 is close to or away from the platform 2. The guiding assembly includes a first guiding assembly 35 and a second guiding assembly 36. The first guiding assembly 35 is disposed between the first limiting assembly 33 and the frame 1 and is configured to guide the first limiting plate 332 to move in a set direction. The second guiding component 36 is disposed between the second limiting component 34 and the frame 1 and is configured to guide the second limiting plate 342 to move in a direction opposite to the setting direction. The two guiding components can adopt the guiding groove and the guiding column. The guide structure of the plug-in fit, or the guide structure that cooperates with the pulley and the guide rail, can also adopt standard parts such as a sliding friction guide rail, a rolling friction guide rail, an elastic friction guide rail, and a linear guide rail such as a fluid friction guide rail. In this embodiment, both guiding assemblies adopt a linear guide structure.

In this embodiment, the first guiding component 35 is configured to guide the first limiting component 33 to move linearly in the left-right direction at all times. The fixing component 351 of the first guiding component 35 is fixedly connected with the frame 1, and the length of the frame 1 extends in the left-right direction. The moving component 352 of the first guiding component 35 is fixedly coupled to the first supporting frame 331. When the motor 31 drives the first limiting component 33 and the second limiting component 34 to move through the transmission component 32, the movement of the first guiding component 35 The element 352 moves along the fixing element 351 to keep the first limiting component 33 linearly moving. During the movement of the first limiting component 33, the first guiding component 35 can also support the first limiting component 33 at all times, thus enabling the first A limiting component 33 moves more smoothly; the second guiding component 36 is used to guide the second limiting component 34 to move in the left and right direction at all times, and the fixing component 361 of the second guiding component 36 is fixedly connected with the frame 1 and the length of the frame 1 The moving member 362 of the second guiding member 36 is fixedly connected to the second supporting frame 341. When the motor 31 drives the first limiting member 33 and the second limiting member 34 to move through the transmission assembly 32, The moving member 362 of the guiding assembly 36 moves along the fixing member 361 to keep the second limiting member 34 linearly moved. The second guiding member 36 can also support the second limiting member during the movement of the second limiting member 34. 34, thus making the second limit assembly 34 move more smoothly.

The above-mentioned centering mechanism 3 may also exist in another form, that is, the centering mechanism 3 includes two cylinders symmetrically disposed on both sides of the longitudinal direction center of the platform 2, the projecting ends of the two cylinders are opposite, and the extension frequency is synchronized. When the article on the platform 2 needs to be adjusted, two cylinders are actuated, and the protruding ends of the two cylinders are moved toward the center of the width direction of the platform 2. When the two protruding ends are in contact with the articles, the two cylinders are The extended ends stop protruding.

FIG. 4 is a schematic structural diagram of a delivery device 300 according to another embodiment. As shown in FIG. 4, in the present embodiment, the frame 1 further includes a left wall 11, a right wall 12, a top wall 13, and a bottom plate (not shown), and a support plate 15, wherein the left wall 11 and the right wall 12 are spaced apart in parallel in the left-right direction, the spacing between the left wall 11 and the right wall 12 is greater than the maximum width of the article; the top wall 13 is perpendicularly connected between the left wall 11 and the right wall 12, and the top wall 13 is located at the bottom plate. Above, the distance between the top wall 13 and the bottom plate is greater than the maximum height of the article, and the left wall 11, the right wall 12, the top wall 13 and the first end of the bottom plate form the entrance of the delivery device 300, the left wall 11, the right wall 12, The top wall 13 and the second end of the bottom plate form an outlet of the delivery device 300; the plate surface of the support plate 15 is parallel to the platform 2 and spaced apart from the bottom plate, and the support plate 15 includes a left support plate 151 and a right support plate 152, wherein The left support plate 151 is connected to the left wall 11, the right support plate 152 is connected to the right wall 12, and the right support plate 152 and the left support plate 151 are spaced apart from each other in the left-right direction. The platform 2 is located on the left support plate 151 and the right support. Between the plates 152, the surface of the left support plate 151 is provided with a surface for avoiding the first support frame 331. Slot, a right surface of the support plate 152 is provided for escape of the elongated slot 341 of the second support, is equal to the width of the left support plate Alternatively, right and left direction 151 and right support plate 152.

The support frame 18 is located between the bottom plate and the support plate 15 and is fixedly connected to the bottom plate. The first limiting component 33 is located on the left side of the platform 2, and the second limiting component 34 is located on the right side of the platform 2. When the first limiting component 33 and the second limiting component 34 are both in the initial position, the first limiting position The component 33 is adjacent to the left wall 11 , and the second limiting component 34 is adjacent to the right wall 12 . When the motor 31 drives the first limiting component 33 and the second limiting component 34 to move to the extreme position, the first limiting component 33 The first support frame 331 approaches the platform 2 along the long groove of the left support plate 151, and the second support frame 341 of the second limit member 34 approaches the platform 2 along the long groove of the right support plate 152.

Optionally, the frame 1 further includes a guide plate 16 including a left guide plate 161 and a right guide plate (not shown), wherein the left guide plate 161 is disposed on the inner side of the left wall 11, and the right guide plate is disposed On the inner side of the right wall 12, the left guide plate 161 and the right guide plate are disposed opposite each other, and the left guide plate 161 and the right guide plate are disposed in a flared manner toward the inlet of the delivery device 300; when the first limit member 33 and the second When the limiting component 34 is in the initial position, the first limiting plate 332 is flush with the surface of the left guiding plate 161 or is not between the left guiding plate 161 and the left wall 11, and the second limiting plate 342 is flush with the surface of the right guiding plate. Or it is not between the right guide plate and the right wall 12.

Optionally, the delivery device 300 further comprises a horizontal movement mechanism and a vertical movement mechanism, the platform 2 being connected to the support frame 18 by a horizontal movement mechanism and a vertical movement mechanism, wherein the platform 2 can be driven by the vertical movement mechanism The support plate 15 is moved in the up and down direction, and the platform 2 is movable in the front-rear direction with respect to the support plate 15 under the driving of the horizontal moving mechanism.

The delivery device 300 provided by the embodiment comprises a platform 2, a centering mechanism 3 and a detecting mechanism 4, wherein the centering mechanism 3 comprises a motor 31, a first limiting component 33 on a first side of the platform 2, and a second side of the platform 2 The second limiting component 34 and the transmission component 32 are drivingly coupled between the first limiting component 33 and the second limiting component 34 and are drivingly coupled to the motor 31. The detection mechanism 4 includes a first detection assembly 41 on the first limit assembly 33 and a second detection assembly 42 on the second limit assembly 34. When the output shaft of the motor 31 rotates, the first limiting component 33 and the second limiting component 34 can be driven to be close to the platform through the transmission component 32. The first limiting plate 332 and the second limiting plate 342 are respectively from the left and right of the article. Pushing the articles on both sides performs at least one of: moving and rotating to adjust the relative position of the article to the platform 2, when the article is in contact with the first detecting component 41, the first detecting portion 412 is in the retracted position, and the first sensor 411 outputs The setting signal, when the article is in contact with the second detecting component 42, the second detecting portion 422 is in the retracted position, the second sensor 421 outputs the setting signal, and the first detecting component 33 and the second detecting component 42 both output the setting. The signal indicates that the first limiting plate 332 and the second limiting plate 342 are respectively in close contact with the side of the article. At this time, the control motor 31 stops rotating, the centering operation is completed, and the article is centered on the platform 2. The delivery device 300 provided by the embodiment enables the article to be placed centrally on the platform 2, avoiding the problem that the article is detached from the platform during the movement of the platform 2. Optionally, since the detecting components are disposed on the two limiting components, corresponding to different sizes of items, the two limiting components can be controlled to stop moving when the article is placed in the middle, and the two limiting components are prevented from being damaged by the two limiting components. The problem.

FIG. 5 is a block diagram showing the composition of a control device of the delivery device 300 according to an embodiment. As shown in FIG. 5, the embodiment provides an apparatus for controlling the operation of the delivery device 300, including:

The centering driving unit 402 is configured to control the motor 31 to drive the first limiting component 33 and the second limiting component 34 to move to the limit position; the motor 31 for controlling the delivery device 300 may drive the first limiting plate 332 and the first The second limiting plate 342 is synchronized to the platform 2 of the delivery device 300;

The centering determining unit 404 is configured to detect the output signals of the first sensor 411 and the second sensor 421, when the first detecting component 41 outputs the detection signal that the first limiting plate 332 is in contact with the article, and the second detecting component 42 outputs the second signal. When the limit plate 342 is in contact with the article, it is determined that the article is placed centrally on the platform 2;

When both the first sensor 411 and the second sensor 421 output a setting signal for detecting an item, it is determined that the item is placed centrally on the platform 2;

The centering stop unit 406 is configured to control the motor 31 to stop rotating after the centering determining unit 404 determines that the article is placed on the platform 2, so that the first limiting component 33 and the second limiting component 34 stop moving, so that the first stopping component 33 and the second limiting component 34 stop moving. The first limiting plate 332 and the second limiting plate 342 stop moving.

The control device of the delivery device of the present embodiment detects the output signals of the first detecting component 41 and the second detecting component 42 when the first limiting component 33 and the second limiting component 34 are in close proximity to the platform 2, when the first detecting When both the component 41 and the second detecting component 42 output the setting signal of the detected item, the first limiting component 33 and the second limiting component 34 are controlled to stop moving, so that the first limiting component 33 and the second limiting position are located. The items between the components 34 are centered on the platform 2, and the first limit component 33 and the second limit are controlled in time as the first detection component 41 and the second detection component 42 are outputted to detect the setting signal of the article. The assembly 34 stops moving, so that the problem that the first limit assembly 33 and the second limit assembly 34 are too close to the platform 2 to squeeze the items placed on the platform 2 can be avoided.

FIG. 6 is a schematic structural diagram of a self-service device according to an embodiment, and FIG. 7 is a schematic diagram of an internal structure of a self-service device according to an embodiment. As shown in FIG. 6 and FIG. 7, the self-service device may be a self-service vending machine or a self-service courier cabinet. In this embodiment, the self-service device is a self-service courier cabinet. The self-service device includes a cabinet 100, a storage device 200 disposed inside the cabinet 100, the above-described delivery device 300, a driving device 400, and the above-described control device. In the present embodiment, the panel 101 of the cabinet 100 is provided with an access opening 102 through which the operator places or removes items from the delivery device 300. The delivery device 300 is disposed between the storage device 200 and the panel 101 for delivering the articles placed by the access opening 102 to the storage device 200 or delivering the articles within the storage device 200 to the drive device 400. Access port 102.

The storage device 200 is disposed at a distance from the panel 101 of the cabinet 100. The storage device 200 includes a plurality of compartments 201, and each of the compartments 201 is open toward the panel 101. Each of the compartments 201 includes two pallets spaced apart in the left-right direction. 202. The two pallets 202 are spaced apart by a set distance. When the articles are stored in the compartment 201, the articles are supported by the two pallets 202. Optionally, the plurality of cells 201 are arranged in M rows and N columns; the driving device 400 is configured to drive the delivery device 300 to move in at least one of the up and down direction and the left and right directions such that the inlet of the delivery device 300 is opposite to the access port 102 Or, the outlet of the delivery device 300 is opposed to the compartment 201 of the set position of the storage device 200.

In the anterior-posterior direction, the delivery device 300 is located between the panel 101 of the cabinet 100 and the storage device 200 for delivering items between the access opening 102 and the storage device 200, ie, the delivery device 300 is configured to receive the access port 102 The placed items are then sent to the compartment 201 of the set position of the storage device 200, and the delivery device 300 can also be used to take out the items stored in the compartment 201 of the set position of the storage device 200, and then send them to the Access port 102. The structural form and working principle of the delivery device 300 are as described in the above embodiments.

In the present embodiment, the self-service device can avoid the device failure caused by the article being detached from the platform 2 when the delivery device 300 is moved between the access port 102 and the mouth 201 of the storage device 200 by using the delivery device 300 provided by the present invention.

Industrial applicability

The delivery device of the present disclosure solves the problem of deflection when the item is placed on the platform causing the item to detach from the platform during the movement.

Claims

A delivery device comprising: a frame, a platform movably coupled to the frame, and a centering mechanism mounted to the frame;

The centering mechanism includes a first limiting component and a second limiting component, the first limiting component includes a first limiting plate, and the second limiting component includes a second limiting plate, the platform setting Between the first limiting plate and the second limiting plate, the first limiting plate and the second limiting plate can synchronously move in opposite directions and simultaneously approach the platform to place the device. The items on the platform are centered.
The delivery device of claim 1, further comprising a detection mechanism comprising a first detection component and a second detection component; the first detection component being disposed on the first limit component, configured to detect Whether the first limiting plate is in contact with the article, the second detecting component is disposed on the second limiting component, and is configured to detect whether the second limiting plate is in contact with the article.
The delivery device according to claim 2, wherein

The first detecting component includes a first sensor and a first detecting portion;

The first sensor is fixedly connected to the first limiting component and configured to detect a position of the first detecting portion;

The first detecting portion is connected to the first limiting component, and has an initial position and a retracted position with respect to the first limiting plate;

When the first detecting portion is in an initial position, the first detecting portion protrudes from the first limiting plate; when the first detecting portion is in a retracted position, the first detecting portion is indented The first limiting plate;

The second detecting component includes a second sensor and a second detecting portion;

The second sensor is fixedly connected to the second limiting component and configured to detect a position of the second detecting portion;

The second detecting portion is connected to the second limiting component, and has an initial position and a retracted position with respect to the second limiting plate;

The second detecting portion protrudes from the second limiting plate when the second detecting portion is in an initial position; the second detecting portion is indented when the second detecting portion is in a retracted position The second limiting plate.
The delivery device according to claim 3, wherein

The first detecting assembly further includes a first rotating shaft, the first detecting portion is hinged with the first limiting component by the first rotating shaft, and the first detecting portion is rotatable about an axis of the first rotating shaft Rotating to effect switching between the initial position and the retracted position;

The second detecting assembly further includes a second rotating shaft, the second detecting portion is hinged to the second limiting component by the second rotating shaft, and the second detecting portion is rotatable about an axis of the second rotating shaft Rotating to effect switching between the initial position and the retracted position.
The delivery device of claim 2, wherein the first detection component and the second detection component are symmetrically disposed about the platform.
The delivery device of claim 1 wherein said centering mechanism further comprises a motor and a transmission assembly; said motor being fixed to said frame and configured to drive said transmission assembly to drive said first limit assembly and The second limit component synchronously moves in reverse.
The delivery device of claim 6 wherein said transmission assembly includes a transmission rod, a first transmission member and a second transmission member;

The motor can drive the transmission rod to rotate about the axis of the transmission rod;

The first transmission member is fixedly connected to the first limiting component, and the second transmission component is fixedly connected to the second limiting component;

The first end of the transmission rod is provided with a first thread, the second end of the transmission rod is provided with a second thread, and the first thread and the second thread are oppositely rotated, the first transmission member and the second transmission member A first threaded connection of the transmission rod, the second transmission member being coupled to the second thread of the transmission rod.
A delivery device according to any one of claims 1 to 7, wherein the centering mechanism further comprises a guide assembly, the guide assembly being coupled to the frame, wherein the guide assembly comprises a first guide assembly and a second guiding assembly, the first guiding assembly is configured to guide the first limiting plate to move in a set direction, and the second guiding assembly is configured to guide the second limiting plate along the set direction Move in the opposite direction.
A control device for controlling a delivery device according to any one of claims 2-8, comprising a centering drive unit, a centering determination unit, and a centering stop unit;

The centering drive unit is configured to control a motor of the delivery device to drive a first limit plate and a second limit plate of the delivery device to be synchronized to a platform of the delivery device;

The centering determining unit is configured to detect an output signal of the first detecting component of the delivery device and the second detecting component of the delivery device, when the first detecting component outputs the first limiting plate and the article When the detection signal of the contact and the second detecting component output the detection signal of the second limiting plate contacting the article, determining that the article is placed centrally on the platform;

The centering stop unit is configured to control the motor to stop rotating after the centering determining unit determines that the article is placed on the platform, so that the first limiting plate and the second limit are The board stops moving.
A self-service device comprising a cabinet, a storage device disposed in the cabinet, a driving device, the delivery device according to any one of claims 1-8, and the control device according to claim 9;

Wherein the cabinet comprises a panel, and the panel has an access opening;

The delivery device is disposed between the storage device and the panel, configured to deliver an item placed by the access port to the storage device or to be driven by the driving device Items within the storage device are delivered to the access opening.