WO2019184562A1 - 一种货道驱动系统及售货机 - Google Patents

一种货道驱动系统及售货机 Download PDF

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Publication number
WO2019184562A1
WO2019184562A1 PCT/CN2019/072118 CN2019072118W WO2019184562A1 WO 2019184562 A1 WO2019184562 A1 WO 2019184562A1 CN 2019072118 W CN2019072118 W CN 2019072118W WO 2019184562 A1 WO2019184562 A1 WO 2019184562A1
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WO
WIPO (PCT)
Prior art keywords
cargo
cargo lane
controller
contact
positioning
Prior art date
Application number
PCT/CN2019/072118
Other languages
English (en)
French (fr)
Inventor
龚涛
谭君明
卢飞勇
林义凯
Original Assignee
深圳邦马特科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳邦马特科技有限公司 filed Critical 深圳邦马特科技有限公司
Publication of WO2019184562A1 publication Critical patent/WO2019184562A1/zh

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Classifications

    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16—Delivery means

Definitions

  • the invention relates to the field of vending equipment, and in particular to a cargo lane driving system and a vending machine.
  • the first gear on the shelf can be driven by the driving structure on the cargo receiving slot, and the push plate is driven to push the cargo out of the cargo lane.
  • Each of the cargo lanes in the patent consists of a drive device (including a first gear, a first synchronizing wheel and a first timing belt), and a push plate; and a second gear on the cargo receiving slot drives the first gear of each cargo lane It is not conducive to increasing or decreasing the size and number of cargo lanes according to application requirements.
  • the drive structure of the cargo lane is complicated and costly.
  • the technical problem to be solved by the present invention is that, in view of the deficiencies of the prior art, a cargo lane driving system and a vending machine capable of separately supplying power to each cargo lane, having a simple structure, and capable of flexibly setting the size and quantity of the cargo lane are provided.
  • a cargo lane drive system comprising a shelf body having one or several layers, a picking device, a controller, the shelf body including a cargo lane, the cargo lane being arranged to have a first drive to the cargo picking device a drive motor, the cargo lane is provided with a contact electrically connected to the first drive motor; the pick-up device is provided with a joint connected to a power source, and the controller controls the joint to touch the contact Connect or disconnect.
  • a vending machine comprising the above described cargo lane drive system.
  • the present invention adopts a cargo path to provide a first driving motor having a cargo driving device on the cargo path to the picking device, and the cargo lane is provided with a contact electrically connected to the driving motor; There is a connector connected to the power source, and the connector is matched with the contact; the controller controls the connector to contact or disconnect with the contact to control the cargo drive of the cargo lane that needs to be picked up.
  • the structure is simple, the cost is low, and the number of freight lanes can be increased or decreased in each layer of the shelf body.
  • Figure 1 is a schematic view showing the overall structure of the vending machine of the present invention.
  • Figure 2 is a schematic view showing the overall structure of a cargo path conveying device of the present invention
  • Figure 3 is an exploded perspective view of the contact driving structure of the present invention.
  • FIG. 4 is a schematic overall view of the assembly of the contact driving structure of the present invention.
  • Figure 5 is a schematic view showing another driving structure of the contact of the present invention.
  • Figure 6 is a schematic view showing the overall structure of the fastening member of the present invention.
  • Figure 7 is a schematic view showing the overall structure of the fastening member of the present invention at another angle
  • Figure 8 is a schematic view showing the structure in which the contacts of the present invention are in contact with the joint.
  • the present invention provides a cargo lane drive system and a vending machine.
  • the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
  • a cargo lane driving system includes a body 1 , a bracket 3 , a shelf body 5 having one or several layers and a picking device; the picking device includes a picking tray 4 and is used for Driving the pick-up tray 4 laterally and longitudinally to move the body 2 for picking up; the body 1 is provided with a shelf body 5, a vehicle body 2, a controller and a pick-up tray 4; the shelf body 5 includes a partition rod 7, a spacer rod 7 and the shelf body 5 form a cargo accommodation space, which is commonly referred to as a cargo lane 8; at the same time, the shelf body 5 includes a cargo lane 8 provided on each floor, that is, the cargo lane 8 is a so-called shelf body 5 a part of.
  • the cargo lane 8 is provided with a cargo transmission having a first drive motor 12 for driving the cargo conveyor to convey the cargo to the pickup device, that is, to the pickup tray 4; the cargo transmission is sleeved
  • the crawler frame 14 having the crawler belt 13 drives the crawler belt 13 to rotate to convey the cargo.
  • the transfer coil spring may be replaced with a transfer coil spring and driven by the first drive motor 12 to transport the cargo.
  • a contact 15 electrically connected to the first driving motor 12 at the shipping end of the cargo lane 8 that is, the contact 15 is electrically connected to the first driving motor 12 through the inner lane of the cargo lane 8;
  • the device is provided with a connector 16 connected to a power source, i.e., the pickup tray 4 is provided with a connector 16 connected to a power source, and the controller control connector 16 is in contact with or disconnected from the contact 15.
  • the pick-up device can also be a pick-up robot or other pick-up structure, the lateral and longitudinal movements of which can be implemented in other configurations.
  • the controller controls the pickup tray 4 to run to the delivery port of the cargo lane 8 for picking up
  • the controller control connector 16 is in contact with the contact 15, and the power source is energized to the first driving motor 12, and the first driving motor 12
  • the cargo on the cargo lane 8 is driven to move to the pickup tray 4; after the pickup tray 4 is loaded into the cargo, the controller control joint 16 is disconnected from the contact 15, and the power source and the first drive motor 12 are not energized, the first drive
  • the motor 12 stops driving the cargo on the cargo lane 8 to move to the pickup tray 4.
  • the controller directly controls the joint 16 to contact or disconnect with the contact 15 of the cargo lane 8 that needs to be picked up, so as to control the cargo drive of the cargo lane 8 that needs to be picked up.
  • the contact 15 requires wires to be connected to the first drive motor 12, that is, each contact 15 belongs to each cargo lane 8, and the same joint 16 individually energizes or de-energizes each cargo lane 8 that needs to be picked up. It is simple and low in cost; and when the cargo lane 8 is added, it is only necessary to provide the contact point 15 of the first drive motor 12 of the cargo lane 8 on the cargo lane 8, and it is possible to flexibly increase or decrease the thickness of each shelf of the shelf body 5.
  • the cargo lane drive system further includes a driving device for driving the joint 16 to extend and retract, and the driving device is disposed on the pick-up tray 4, and the driving device drives the joint 16 to extend through the controller and is in contact with the contact 15
  • the contact is controlled by the controller to drive the drive unit 16 to retract and disconnect from the contact 15.
  • the drive device can be of any suitable construction as long as the drive joint 16 can be retracted and extended.
  • the picking device includes a fixing frame 19, that is, the fixing frame 19 is disposed on the picking tray 4;
  • the driving device is the second driving motor 20, and the rotating shaft of the second driving motor 20 is provided with a driving rod 201, the second driving motor 20 is disposed on the fixing frame 19;
  • the joint 16 is fixedly disposed on the slider 17, and the slider 17 is movably disposed on the fixing frame 19.
  • the slider 17 is movably sleeved on the guiding rod 21
  • other structures may be used for active connection, such as a guide groove
  • the slider 17 is fixedly provided with a connecting rod 18, and the connecting rod 18 is sleeved on the driving rod 201; when the controller controls the driving of the second driving motor 20, the driving is performed.
  • the rod 201 drives the connecting rod 18, causing the joint 16 on the slider 17 to extend and come into contact with the contact 15 or the joint 16 on the slider 17 to be retracted and disconnected from the contact 15.
  • the fixing frame 19 is provided with a limit switch for limiting the driving stroke of the second drive motor 20.
  • the driving device is an electromagnetic push rod 22 provided with a return spring 23; the electromagnetic push rod 22 is fixed to the pickup tray 4 by a fixing seat 24, and the joint 16 is fixed to the fixing block 25 and passed through
  • the fixing block 25 is indirectly connected to the electromagnetic push rod 22, and the guiding seat 26 is movably connected to the socket 16 and fixedly connected to the picking tray 4.
  • the controller controls the electromagnetic push rod 22 to energize and drive the fixing block 25, so that the driving joint 16 is movably extended at the guiding seat 26 and is in contact with the contact 15; the controller controls the electromagnetic push rod 22 to be powered off and then driven by the return spring 23
  • the joint 16 is retracted in the guide seat 26 and is disconnected from the contact 15, and the structure is stable and simple.
  • the contact 15 is disposed on the fastening component 27, one end of the contact 15 is used for contacting the connector 16, and the other end is provided with an interface 151; the interface 151 is electrically connected to the connection line of the first driving motor 12, That is, when the connection line is engaged with the interface 151, the electrical connection is achieved.
  • the connection mode can be easily removed or increased when the cargo path is increased or decreased; the fastening component 27 is fastened to the shelf body 5, and the fastening component can also be attached according to requirements. 27 is connected with the cargo lane 8 and is connected.
  • the use of the fastening member 27 facilitates setting the specific position of the contact 15 in advance according to requirements, and when changing the cargo lane 8, a full set of fastening members 27 can be used to directly engage the shelf body 5 or the cargo lane 8, and then
  • the interface 151 may be electrically connected to the connection line of the first drive motor 12.
  • the vehicle body 2 is driven by the drive motor to run along the track to realize the lateral running of the pickup tray 4; the pickup tray 4 is driven by the drive motor to run along the longitudinal direction of the bracket 3, so that the pickup tray 4 can be moved laterally and longitudinally to move to The cargo lane 8 to be picked up;
  • the drive motor includes a lateral drive motor and a longitudinal drive motor, and the lateral drive motor and the longitudinal drive motor are all driven by the controller.
  • the controller controls the lateral motor to drive the body 2 to operate, thereby driving the picking tray 4 to move laterally; the controller controls the longitudinal motor to drive the picking tray 4 to move longitudinally.
  • the limit position label is provided at two extreme positions of the left and right lateral ends of the shelf body 5 and the left and right extreme positions of the longitudinal top end, and the pick-up device is provided with a limit sensor matched with the limit positioning label, so that the vehicle can be limited
  • the lateral running of the body 2 and the running pick-up range of the longitudinal running of the pick-up tray 4 are square structures; meanwhile, when a plurality of shelf bodies 5 are to be spliced, only a plurality of stitched shelf bodies 5 are required as a whole.
  • the limit position label is provided at two extreme positions on the left and right sides of the overall lateral bottom end, and the limit positioning label is arranged on the left and right extreme positions of the longitudinal top end, and the limit position sensor matched with the limit positioning label is arranged on the vehicle body 2, that is, A sensor that identifies the extreme positioning tag.
  • the limit positioning tag may be an extreme positioning tag capable of reflecting light, and a photosensitive sensor such as an infrared sensor or a flap and a limit switch, etc., depending on the case, in other embodiments, a limited position may be set at the lateral and longitudinal limit positions.
  • the sensor has a matching limit positioning label on the vehicle body 2, or the vehicle body 2 is provided with a partial limit positioning label and a limit sensor, and the lateral bottom end and the longitudinal top end are provided with the limit positioning label and the limit portion.
  • the position sensor matches the partial limit sensor and the limit positioning label.
  • the shelf body 5 is provided with a positioning tag, and the positioning tag corresponds to the contact 15;
  • the pickup tray 4 is provided with a tag recognition sensor 28 for communicating with the controller, the tag identification sensor 28 is for identifying the positioning tag and outputting a switch signal, a switch signal
  • the trigger controller sets the position information of the positioning tag, and the controller locates the pickup tray 4 according to the position information.
  • the controller controls the pick-up tray 4 to go to the delivery port of the cargo lane 8 positioned by the positioning label according to the position information of the positioning label, and the position of the positioning label corresponds to the position of the contact 15, that is, the positioning label and The positional orientation of the contact 15 is fixed, so that when the positioning label is positioned, the specific position of the corresponding contact 15 can be mapped; at the same time, the joint 16 is also matched with the position of the contact 15, and therefore, the goods are in stock.
  • the connector 16 is extended to be in contact with the contact 15 to turn on the power.
  • the first drive motor 12 of the cargo lane 8 is separately powered to drive the movement of the cargo to the pick-up tray 4.
  • Contact 15 is preferably two positive and negative two-pole contact ends, and corresponding connector 16 has a two-pole contact end that mates with contact 15.
  • the controller controls the pick-up tray 4 to go to the delivery port of the cargo lane 8 for picking up according to the position information of the positioning label, and the controller accurately calculates the pick-up according to the identification of the positioning label or the positioning information from the already existing target cargo lane.
  • the controller control connector 16 is in contact with the contact 15 and the power source is energized to the first driving motor 12, A drive motor 12 drives the cargo on the cargo lane 8 to move to the pickup tray 4; after the pickup tray 4 is loaded into the cargo, the controller control joint 16 is disconnected from the contact 15, and the power source and the first drive motor 12 are not energized.
  • the cargo sensing device After the first drive motor 12 stops driving the cargo on the cargo lane 8, or the cargo sensing device detects that the cargo enters the pickup tray 4, the cargo sensing device sends a switch signal to the controller, and the controller performs the control joint 16 according to the switch signal. Retracted and disconnected from the contact 15, the first drive motor 12 stops driving the cargo on the cargo lane 8, and then controls the pickup tray 4 loaded with the cargo to operate to the delivery port. Finally, the controller controls the lateral movement of the vehicle body 2 and the longitudinal operation of the pickup tray 4 to transport the goods to the delivery port, so that the purchaser finally obtains the goods.
  • the preferred positioning tag is a positioning tag capable of reflecting light;
  • the tag identification sensor 28 is a photosensitive sensor, and the above positioning tag and tag identification sensor 28 are set as the case may be, as long as the positioning tag matches the tag identification sensor 28.
  • the positioning tag can reflect the light emitted by the photosensitive sensor, that is, the reflected light intensity value coincides with the reflected light intensity value preset by the photosensitive sensor.
  • the positioning labels are flexibly added to the cargo lane 8 for positioning according to the number of the cargo lanes 8; the positioning label is disposed at any position of the shelf body 5, as long as the positioning label can locate the number of layers of the shelf body 5 and the position of the cargo lane 8 And when each shelf body 5 is positioned as an area, the positioning tag can locate the area and the origin, and one vending machine can be composed of one or several shelf bodies 5.
  • the reflectivity of the positioning label is different from the reflectivity of the shelf body 5;
  • the pickup tray 4 is provided with a photosensitive sensor that communicates with the controller, and the photosensitive sensor sets the recognized reflected light intensity value to match the reflected light intensity value of the positioning label to output
  • the switch signal, the switch signal triggers the controller to set the position information of the positioning tag, and the controller controls the positioning pick-up tray 4 to operate according to the position information to the cargo lane 8 corresponding to the positioning tag for picking up.
  • the cargo lane driving system further includes a storage module; the storage module stores location information of the positioning label, and when the location information is retrieved, the controller controls the driving motor on the vehicle body 2 to drive the vehicle body 2 according to the location information.
  • the picking tray 4 Running along the track, the picking tray 4 is operated laterally, and the picking tray 4 is driven by the driving motor to run along the longitudinal direction of the bracket 3. Therefore, the picking tray 4 can be run in the horizontal and vertical directions to the cargo lane 8 for positioning and picking up.
  • the reflectivity of the positioning label is different from the reflectivity of the shelf body 5, so the photosensitive sensor can correctly distinguish the difference between the reflected light intensity of the positioning label and the reflected light intensity of the shelf body 5, thereby accurately identifying the reflected light intensity of the positioning label and outputting the switching signal;
  • the switch signal accurately triggers the controller to calculate and set the specific position information of the positioning tag and store; when triggering a stored position, the controller directly controls the driving device to drive the picking tray 4 according to the position information of the positioning tag. And controlling the pick-up tray 4 to run to the cargo lane 8 on the shelf body 5 positioned by the positioning label to perform the picking operation, the picking time is short, and the efficiency is high.
  • the photosensor recognizes and triggers the controller to calculate and set the position information and store it. Therefore, the increase or decrease of the cargo lane 8 or the number of layers or the area can be adjusted by increasing or decreasing the corresponding positioning label, and the sensor is used to identify and trigger the controller to calculate and set the position information and save all the cargo lanes 8 or all layers.
  • the position information of the number or all areas facilitates the flexible addition and subtraction of the number of layers of the cargo lane 8 or the shelf body 5 of the shelf body 5 or each shelf body 5.
  • the positioning tag includes a lane marking tag 6 capable of reflecting light, the tag identifying sensor 28 including a first photosensor for identifying the reflected light intensity of the lane marking tag 6 and outputting a lane switch signal
  • the cargo lane switch signal trigger controller sets the position information of the cargo lane positioning label 6 and stores it.
  • the leftmost or rightmost lane marking label 6 is first identified one by one in the longitudinal direction, so that the number of layers and each layer of the shelf body 5 can be identified.
  • the height is finally recognized one by one in the lateral direction of the cargo lanes 8 of each layer, and the lateral bottom end and the longitudinal top end have limit limits.
  • the entire shelf body 5 can position and store the position information of each cargo lane 8.
  • the controller first controls the first photosensitive sensor to recognize the number of layers of the cargo lane 8 according to the leftmost or rightmost lane marking label 6, and then controls the first photosensitive The sensor performs the lateral identification one by one to find the cargo lane 8 positioned by the target freight lane positioning label 6 to pick up the goods, and controls the picking tray 4 to perform the picking operation on the cargo lane 8 on the shelf body 5 where the cargo lane positioning label 6 is located.
  • the controller directly controls the vehicle body 2 to drive the pickup tray 4 according to the position information of the cargo lane positioning label 6, and controls the operation of the pickup tray 4 to the cargo lane 8 on the shelf body 5 to which the cargo lane positioning label 6 is positioned. Cargo operation, short pickup time and high efficiency.
  • each of the shelf bodies 5 is further provided with a layer positioning label 9 capable of reflecting light; the layer positioning label 9 is on a straight line, preferably perpendicular to the lateral movement direction of the vehicle body 2; the first photosensitive sensor identification layer positioning label The reflected light intensity of 9 and the output layer switching signal; the layer switch signal accurately triggers the controller to calculate and set the specific position information of the layer positioning tag 9 and store it.
  • the layer positioning label 9 needs to be identified first, and then the lane marking label 6 of each layer is identified.
  • the positioning of the pick-up tray 4 in the vertical direction is realized by the layer positioning label 9, and the positioning of each layer of the rack body 5 is performed, and the cargo lane 8 of the lateral position of the pick-up end of the pick-up tray 4 is realized by the lane-way positioning label 6. Positioning, and then positioning of the cargo lane 8 for cargo accommodation, through two positioning positions in the horizontal and vertical positions, to achieve accurate positioning of the goods, thereby facilitating the pick-up tray 4 to accurately pick up the goods for sale. .
  • the controller When triggering a stored location information, the controller first controls the first photosensor to recognize the number of layers of the cargo lane 8 according to the vertical layer positioning label 9, and then controls the first photosensitive sensor to perform the identification one by one.
  • the cargo lane 8 positioned by the road positioning label 6 is then controlled to pick up the cargo pallet 4 on the cargo rail 8 on the shelf body 5 where the cargo lane positioning label 6 is located. That is, the controller directly controls the vehicle body 2 to drive the pickup tray 4 according to the position information of the layer positioning label 9 and the cargo lane positioning label 6 of the cargo lane 8, and controls the operation of the pickup tray 4 to the layer positioning label 9 and the cargo lane positioning.
  • the cargo lane 8 on the shelf body 5 positioned by the label 6 performs a picking operation, and the picking time is short and the efficiency is high.
  • the positioning method is simple and easy, the positioning device is easy to set, the overall working mode of the system realizes precise positioning, and the positioning system is simplified.
  • the number of layers of the shelf body 5 can be increased or decreased, and the corresponding layer positioning label 9 can be added or removed on the increasing or decreasing layer to perform positioning and positioning, and the first photosensitive sensor is recognized one by one, and the controller is triggered to perform calculation and The position information is set and the position information of all the layers is saved, so that the number of layers of the shelf body 5 can be flexibly increased or decreased.
  • the position information formed by the combination of the layer positioning label 9 and the cargo lane positioning label 6 is calibrated for each cargo lane 8 position and the layer positioning label 9 on the shelf body 5 which is marked by the lane marking label 6.
  • each shelf body 5 is further provided with an area positioning label 10 capable of reflecting light;
  • the label recognition sensor 28 includes a second photosensitive sensor, the vehicle body 2 is provided with a second photosensitive sensor; and the second photosensitive sensor is used for identifying the area positioning.
  • the reflected light intensity of the tag 10 outputs an area switch signal, and the area switch signal triggers the controller to calculate and set the position information of the area positioning tag 10 and store it.
  • the zone positioning tag 10 positions the position of each shelf body 5; therefore, the cargo lane 8 is co-located by the zone positioning tag 10 locating the respective shelves, the longitudinally positioned layer positioning tag 9 and the laterally positioned cargo lane positioning tag 6; each zone The positioning tag 10 only positions one shelf body 5, and each shelf body 5 is provided with a zone positioning label 10, and each shelf body 5 has one or several layers and a plurality of cargo lanes 8.
  • the location tag 10 is required to locate the position of each shelf body 5; in the vending machine, when the shelf body 5 is added or removed, the corresponding location tag is also increased or decreased. 10.
  • Each zone positioning tag 10 positions the position information of each shelf body 5.
  • the setting of the area positioning label 10 is convenient for increasing or decreasing the shelf body 5; the shelf body 5 can be increased or decreased according to requirements, and the corresponding area positioning label 10 can be added or removed on the increased or decreasing shelf body 5 to perform positioning and positioning.
  • the area positioning tag 10 is recognized one by one by the second photosensor, and the trigger controller performs calculation and setting position information and stores the position information of all the shelf bodies 5, which is convenient for flexibly increasing or decreasing the number of the shelf bodies 5.
  • a container can have one or several shelves 5, so the vending machine can arbitrarily increase or decrease the container.
  • the area positioning label 10 is disposed at the lower end of the shelf body 5, which is lower than the layer positioning label 9 of the lowest layer of the shelf body 5, and may not be in the same line with all the layer positioning labels 9; or may use the first
  • the photosensitive sensor replaces the second photosensor to identify the reflected light intensity of the area positioning tag 10 and outputs a switch signal, and the switch signal triggers the controller to calculate and set the position information of the area positioning tag 10 and stores the area, and the area positioning tag 10 and the layer positioning
  • the label 9 is on a straight line, which may be vertical or other diagonal lines.
  • the location information of the cargo lane 8 of the entire shelf body 5 is identified and stored, the location information of the area positioning label 10, the layer positioning label 9 and the cargo lane positioning label 6 is identified, and three labels are simultaneously stored to locate each item.
  • the position information of the road 8 requires the vehicle body 2 to laterally identify all the area positioning labels 10 at the lowermost end of the shelf body 5, and identify how many shelf bodies 5; and then from the leftmost to the right or the rightmost to the leftmost to each shelf
  • the body 5 first identifies the longitudinal layer positioning label 9 to realize the identification of the number of layers in the vertical direction of the shelf body 5, and finally realizes the identification and positioning of the cargo lane 8 through the cargo lane positioning label 6 of each layer of the shelf body 5,
  • the cargo lane 8 is set by the controller to determine the specific position information, and the position information of the area positioning label 10, the position information of the layer positioning label 9 and the position information of the cargo lane positioning label 6 are jointly positioned to realize accurate positioning of the cargo lane 8.
  • the controller When triggering a stored position information, the controller first controls the second photosensor to recognize the shelf body 5 according to the area positioning tag 10, and then controls the first photosensor to identify the cargo path according to the vertical layer positioning tag 9. 8 is the number of layers, and finally controls the first photosensitive sensor to identify the cargo lane 8 positioned along the lateral direction of the cargo lane positioning label 6 for picking up, and controls the picking tray 4 on the shelf body 5 where the cargo lane positioning label 6 is located.
  • the cargo lane 8 carries out the picking operation.
  • the controller directly controls the vehicle body 2 to drive the pick-up tray 4 according to the position information of the area positioning label 10, the layer positioning label 9 and the freight lane positioning label 6 of the cargo lane 8, and controls the operation of the pick-up tray 4 to the layer positioning label.
  • 9 and the cargo lane 8 on the shelf body 5 positioned by the cargo lane positioning label 6 carries out the picking operation, and the picking time is short and the efficiency is high. Increasing or decreasing the shelf body 5 does not affect the positioning and picking up.
  • the shelf body 5 is further provided with an origin positioning tag 11 capable of reflecting light
  • the tag recognition sensor 28 includes a third photosensor
  • a third photosensor provided on the vehicle body 2 is used for recognizing the reflection of the origin positioning tag 11
  • the light intensity outputs the origin switch signal
  • the origin switch signal triggers the controller to calculate and set the position information of the origin positioning tag 11, that is, the coordinates of the origin.
  • the origin positioning tag is disposed at the bottom end of the shelf body 5, and may be disposed at a lateral left and right limit position of the bottom end, or may be replaced by an extreme positioning tag.
  • the third photosensitive sensor on the vehicle body 2 first recognizes the origin positioning label 11, and the second photosensitive sensor on the vehicle body 2 recognizes the regional positioning label 10, Finally, the first photosensors disposed on the pickup tray 4 respectively identify the position information of the layer positioning label 9 and the cargo lane positioning label 6 and simultaneously store the coordinate position information of each of the cargo lanes 8 positioned by the three labels;
  • the coordinates of the track 8 are set relative to the origin positioning tag 11, and the limit positioning label is provided at the two extreme positions of the lateral shelf end of the whole shelf body 5 or the plurality of shelf bodies 5 after the splicing, and the two extreme positions of the longitudinal tip are set.
  • the area locating label 10 is used to distinguish the respective shelf bodies 5, and the area locating label 10 allows the respective shelf bodies 5 to arbitrarily set the number of layers, since each of the area locating tags 10 only corresponds to the position information of the shelf body 5 on which it is located,
  • each of the shelf bodies 5 is used, that is, the first photosensitive sensor positions the label of each shelf body 5 with each shelf body 5 as a separate area unit.
  • 9 identifies and finally identifies the lane marking label 6. Therefore, the number of layers can be arbitrarily set for each shelf body 5.
  • the position of the origin positioning label 11 is taken as the origin coordinate, the layer positioning label 9 corresponds to the ordinate, and the cargo lane positioning label 6 corresponds to the abscissa; the coordinates of the cargo lane 8 marked by the freight lane positioning label 6 are the abscissa, and the ordinate is
  • the layer positioning label 9 and the area position information of the area positioning label 10 in which the lane positioning label 6 is located are obtained, and the specific abscissa and ordinate of the rack body 5 are obtained, and the three positions jointly locate the cargo lane 8. information.
  • the controller determines the position of the shelf body 5 where the cargo lane 8 is located, and calculates the distance between the current position of the pickup tray 4 and the abscissa and the ordinate of the cargo lane 8, and controls
  • the vehicle body 2 simultaneously drives the horizontal drive and the longitudinal drive pickup tray 4 to the cargo lane 8 for picking up, the pickup time is short, and the efficiency is high.
  • the spacer rod 7 is fastened to the shelf body 5 according to different activities for accommodating the size of the cargo, and the positioning tag is matched with the cargo accommodating space, that is, the cargo lane 8 is calibrated with the specific position information by the positioning label.
  • the partition rod 7 described above is fastened to the shelf body 5 according to the different activities of the size of the accommodated goods, that is, the partition rod 7 can be directly engaged with the shelf body 5 according to the size of the cargo lane 8 to be formed, and the cargo lane 8 is completed. Because the partition rod 7 can be engaged and buckled, the shelf body 5 of different layers can be provided with different numbers of the spacer rods 7 according to the needs, forming different numbers of cargo lanes 8, and the setting is simple and convenient.
  • the positioning label may be directly disposed on the shelf body 5, or the positioning label may be disposed on the fastening component 17, and the positioning label is movably fastened to the shelf body 5 through the fastening component 27. Therefore, when the number of the cargo lanes 8 is modified, the fastening component 27 provided with the positioning label is directly fastened to the shelf body 5.
  • the fastening component 27 can be provided with a hook, and the shelf body 5 is provided with a bayonet, and the hook can be Directly snap-fit to the bayonet.
  • the same layer positioning label 9 is also fastened to the shelf body 5 by the fastening member 27. Therefore, the contact 15 and the corresponding positioning label can be disposed on the fastening member 27, and the positioning label can be the cargo lane positioning label 6 or the like.
  • the cargo lane driving system further comprises a touch display screen for operating the purchase, the touch display screen is disposed on the vending machine body 1; the touch display screen is communicatively connected with the main controller, and the touch screen display shows the main controller storing the sold All the area of the cargo plane locates the position information of the tag 10, the position information of the layer positioning tag 9 and the position information of the cargo path positioning tag 6, that is, the position information of the shelf body 5, the cargo lane 8 and the layer, and the cargo path 8 on the shelf body 5
  • the sold item is displayed on the touch display screen and associated with the location information to wait for the customer to click to purchase; when clicking to purchase an item, the location information associated with the triggered item is sent to the controller, and the controller searches for the location information and Whether the comparison authentication exists, if any, controls the pickup tray 4 to run to the cargo lane 8 for picking up. If it does not exist, an error is reported.
  • the cargo lane driving system further includes a mobile terminal for operating the purchase, and the mobile terminal is communicably connected to the controller through the server; the mobile terminal displays the location information of all the regional positioning tags 10 of the vending machine stored by the main controller, and the layer positioning label 9 Position information and position information of the cargo lane positioning label 6, that is, position information of the shelf body 5, the cargo lane 8 and the layer, the position information and the for sale product of the cargo lane 8 on the shelf 5 layer are displayed on the mobile terminal and Interrelated, waiting for the customer to click to buy; when clicking to purchase an item, triggering the location information associated with the item and sending it to the controller by the server, the controller looks up the location information and compares whether the authentication exists, if any, controls The pickup tray 4 is run to the cargo lane 8 for picking up. If it does not exist, an error is reported.
  • the first photosensitive sensor, the second photosensitive sensor and the third photosensitive sensor included in the photosensitive sensor are all infrared sensors.
  • the photosensor may be of other types, the area positioning label 10, the layer positioning label 9, the cargo lane positioning label 6, and the origin positioning label included in the positioning label, and the positioning label is adapted to the change of the photosensitive sensor.
  • the optimal recognition distance between the above positioning tag and the photosensor may be determined by the situation. Therefore, the area positioning label 10, the layer positioning label 9, the cargo lane positioning label 6 and the origin positioning label together accurately position the specific position information of the cargo lane 8, and the contact 15 and the domain positioning label 10, the layer positioning label 9, and the cargo lane positioning
  • the label 6 corresponds to the origin positioning label to more accurately position the joint 16 to contact the contact 15.
  • the invention also relates to a vending machine comprising the above described cargo lane drive system.

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Abstract

一种货道驱动系统，包括具有一层或若干层的货架体(5)，取货装置，控制器，货架体(5)包括货道(8)，货道(8)设置有用于驱动货物运动至取货装置的第一驱动电机(12)，货道(8)设有与第一驱动电机(12)电连接的触点(15)；取货装置设有与电源连接的接头(16)，控制器控制所述接头(16)与触点(15)相触接或断开。结构简单，成本低方便于灵活增减货道(8)的数量。

Description

一种货道驱动系统及售货机 技术领域
本发明涉及售货设备领域，特别涉及一种货道驱动系统及售货机。
 背景技术
伴随收入水平的提高，人们追求灵活、方便、快捷以及自助式服务是自动售货机得以如此迅猛发展的主要原因。现有很多售货机的货物被购买时，取货托盘运行至该货道进行取货，控制器控制货道的驱动电机进行驱动货物掉落于该取货托盘；取货托盘体积较小，取货快捷、精准。现有技术中，大部分均在每个货道的后部设置有电机并在每个电机单独设有检测电路板及控制该电机旋转的检测开关，结构复杂；且因结构复杂不便于随意增减货道，每层货架体的货道数目是固定的，限制货道增减的灵活性。
如中国专利，申请号CN201510234439 .5，公布号 CN 104821043 A，公布日2015年08月05日；其公开货架体的某个货道中的货物需要被推出时，可先通过升降机构使得货物接收槽移动至相应货架层，然后通过移动组件控制驱动结构沿着货物接收槽侧壁移动至相应货道，使得第二齿轮与第一齿轮传动连接。驱动结构驱动第二齿轮转动，第二齿轮使得第一齿轮转动，第一齿轮带动带动第一同步轮转动，第一同步轮则带动第一同步带运转，使得推板将货物从货道中推出。所述货架上的第一齿轮均可以被货物接收槽上的驱动结构进行驱动，而实现带动推板将货物推出货道。该专利中每个货道由驱动装置（包括第一齿轮、第一同步轮和第一同步带），以及推板组成；且货物接收槽上的第二齿轮驱动每一个货道的第一齿轮；不利于按照应用需求进行增减货道尺寸和数目。货道的驱动结构复杂，成本高。
 技术问题
本发明要解决的技术问题在于，针对现有技术的不足，提供一种单独对每个货道供电，结构简单，能够灵活设定货道尺寸和数量的货道驱动系统及售货机。
 技术解决方案
为了解决上述技术问题，本发明所采用的技术方案如下：
一种货道驱动系统，包括具有一层或若干层的货架体，取货装置，控制器，所述货架体包括货道，所述货道设置具有驱动货物给予所述取货装置的第一驱动电机，所述货道设有与所述第一驱动电机电连接的触点；所述取货装置设有与电源连接的接头，所述控制器控制所述接头与所述触点相触接或断开。
一种售货机，包括以上所述货道驱动系统。
 有益效果
有益效果：与现有技术相比，本发明采用货道设置具有驱动该货道上的货物给予取货装置的第一驱动电机，货道设有与驱动电机电连接的触点；取货装置设有与电源连接的接头，接头与触点相匹配；通过控制器控制接头与触点相触接或断开，达到对需要取货的货道货物驱动进行控制。结构简单，成本低，可以灵活地在货架体每层增减货道的数量。
 附图说明
图1是本发明的售货机整体结构示意图；
图2是本发明的货道传送装置的整体结构示意图；
图3是本发明的触点驱动结构分解示意图；
图4是本发明的触点驱动结构组装整体示意图；
图5是本发明的触点另一种驱动结构示意图；
图6是本发明的扣合件整体结构示意图；
图7是本发明的扣合件另一角度的整体结构示意图；
图8是本发明的触点与接头相触接的结构示意图。
 本发明的实施方式
具体实施方式
本发明提供一种货道驱动系统及售货机，为使本发明的目的、技术方案及效果更加清楚、明确，以下参照附图并举实施例对本发明进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
本技术领域技术人员可以理解，除非特意声明，这里使用的单数形式“一”、“一个”、“所述”和“该”也可包括复数形式。 应该进一步理解的是，本发明的说明书中使用的措辞“包括”是指存在所述特征、整数、步骤、操作、元件和/或组件，但是并不排除存在或添加一个或多个其他特征、整数、步骤、操作、元件、组件和/或它们的组。 应该理解，当我们称元件被“连接”或“耦接”到另一元件时，它可以直接连接或耦接到其他元件，或者也可以存在中间元件。此外，这里使用的“连接”或“耦接”可以包括无线连接或无线耦接。这里使用的措辞“和/或”包括一个或更多个相关联的列出项的全部或任一单元和全部组合。
本技术领域技术人员可以理解，除非另外定义，这里使用的所有术语(包括技术术语和科学术语)，具有与本发明所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语，应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样被特定定义，否则不会用理想化或过于正式的含义来解释。
下面结合附图，通过对实施例的描述，对发明内容作进一步说明。
请参考图1至图8所示，一种货道驱动系统，包括机体1，支架3，具有一层或者若干层的货架体5和取货装置；取货装置包括取货托盘4和用于驱动取货托盘4横向和纵向移动进行取货的车体2；机体1内设置有货架体5、车体2、控制器和取货托盘4；货架体5包括隔物杆7，隔物杆7与货架体5形成货物容置空间，该空间俗称货道8；同时还可以是，货架体5是包含每一层上设有的货道8，即货道8是所称的货架体5的一部分。货道8设有具有第一驱动电机12的货物传动装置，第一驱动电机12用于驱动货物传送装置以将货物传送至取货装置，即传送至取货托盘4；货物传动装置为套设有履带13的履带架14，第一驱动电机12驱动履带13旋转以传送货物。在其他实施例中，也可以用传送螺旋弹簧代替履带13，并由第一驱动电机12驱动进行传送货物。货道8内部有套设有履带13的履带架14及用于驱动履带13旋转以传送货物的第一驱动电机12。本实施例中，优选在货道8出货端设有与第一驱动电机12电连接的触点15，即触点15通过货道8内走线与第一驱动电机12电连接；取货装置设有与电源连接的接头16，即取货托盘4设有与电源连接的接头16，控制器控制接头16与触点15相触接或断开。取货装置也可以为取货机械手或其他取货结构，其横向和纵向运动可以是其他结构进行实现。
因此，控制器控制取货托盘4运行至货道8的出货口进行取货时，控制器控制接头16与触点15相触接，电源向第一驱动电机12通电，第一驱动电机12驱动该货道8上的货物运动至取货托盘4；在取货托盘4装载到货物后，控制器控制接头16与触点15断开，电源与第一驱动电机12不通电，第一驱动电机12停止驱动该货道8上的货物运动至取货托盘4。控制器直接控制接头16与需要取货的货道8的触点15相触接或断开，达到对需要取货的货道8的货物驱动进行控制。触点15需要电线与第一驱动电机12进行连接，即每个触点15均属于每个货道8，同一个接头16单独对每一个需要取货的货道8进行通电或断电，结构简单，成本低；且在增加货道8时，只需要在该货道8设置与该货道8第一驱动电机12的触点15即可，可以灵活地在货架体5每层增减货道8的数量。
进一步的，货道驱动系统还包括用于驱动接头16伸出和缩回的驱动装置，驱动装置设置于取货托盘4上，通过控制器控制驱动装置驱动接头16伸出并与触点15相触接，通过控制器控制驱动装置驱动接头16缩回并与触点15断开。该驱动装置可以任意合适的结构，只要能实现驱动接头16缩回和伸出即可。
具体的，在一种实施例中，取货装置包括固定架19，即固定架19设置于取货托盘4上；驱动装置为第二驱动电机20，第二驱动电机20的转轴设有驱动杆201，第二驱动电机20设置于所述固定架19上；接头16固定设置于滑块17上，滑块17活动设于固定架19，本实施例中滑块17活动套设于导杆21上，也可以使用其他结构进行活动连接，比如导槽之类的；滑块17固定设有连接杆18，连接杆18套设于驱动杆201；控制器控制第二驱动电机20驱动时，驱动杆201驱动连接杆18，带动滑块17上的接头16伸出并与触点15相触接或滑块17上的接头16缩回并与触点15断开。同时，固定架19设有限位开关以用于限制第二驱动电机20的驱动行程。
具体的，在另一种实施例中，驱动装置为设有回位弹簧23的电磁推杆22；电磁推杆22由固定座24固定于取货托盘4，接头16固定于固定块25并通过该固定块25与电磁推杆22间接连接，导向座26活动套接接头16并与取货托盘4固定连接。控制器控制电磁推杆22通电并驱动固定块25，从而驱动接头16在导向座26活动伸出并与触点15相触接；控制器控制电磁推杆22断电后由回位弹簧23驱动接头16在导向座26活动缩回并与触点15断开，结构稳固简单。
进一步的，触点15设于扣合件27上，触点15一端用于与接头16相触接，另一端设有接口151；接口151与第一驱动电机12的连接线卡合电连接，即，连接线与接口151卡合时实现电连接，该连接方式可以在增减货道时，方便拆除或者增加；扣合件27与货架体5扣合连接，也可以根据需求将扣合件27与货道8扣合连接。使用扣合件27方便于根据需求提前设定触点15的具体位置，以及在变更货道8时，可以使用一整套扣合件27与货架体5或货道8直接扣合，然后再将接口151与第一驱动电机12的连接线卡合电连接即可。
进一步的，取货托盘4设有检测货物进入取货托盘4的货物感应装置，货物感应装置可以为红外传感器或重力传感器等等，或各个传感器的结合；货物感应装置与控制器信号连接，货物感应装置检测到货物进入取货托盘4后，货物感应装置向控制器发送开关信号，控制器根据该开关信号控制接头16缩回并与触点15断开，最后控制装载有货物的取货托盘4运行至出货口。
车体2由驱动电机驱动沿着轨道运行，以实现取货托盘4横向运行；取货托盘4由驱动电机驱动沿支架3纵向运行，因此该取货托盘4可以进行横向和纵向运行以运动至所需取货的货道8；驱动电机包括横向驱动电机和纵向驱动电机，横向驱动电机和纵向驱动电机均由控制器控制驱动。控制器控制横向电机驱动车体2运行，从而驱动取货托盘4横向运动；控制器控制纵向电机驱动取货托盘4纵向运动。货架体5的横向底端左右的两个极限位置和纵向顶端的左右两个极限位置均设有极限定位标签，取货装置设有与极限定位标签相匹配的限位传感器，因此，可以限定车体2的横向运行和取货托盘4纵向运行的运行取货范围为四方结构；同时，在将增加若干个货架体5拼接时，只需要将拼接后的若干货架体5作为一个整体，在其整体的横向底端左右两个极限位置设有极限定位标签，纵向顶端的左右两个极限位置设有极限定位标签，以及车体2上设置有与极限定位标签相匹配的限位传感器，即可以识别该极限定位标签的传感器。极限定位标签可以是能够反射光线的极限定位标签，以及光敏传感器，比如红外传感器或者挡片与限位开关等等，根据具体情况，在其他实施例中也可以在横向和纵向极限位置设置有限位传感器，而在车体2上设有相匹配的极限定位标签，再或者就是车体2设有部分极限定位标签和限位传感器，横向底端和纵向顶端设有与该部分极限定位标签和限位传感器相匹配的部分限位传感器和极限定位标签。
货架体5上设置有定位标签，定位标签与触点15相对应；取货托盘4设有与控制器通信的标签识别传感器28，标签识别传感器28用于识别定位标签并输出开关信号，开关信号触发控制器设定定位标签的位置信息，控制器根据位置信息定位取货托盘4。控制器根据定位标签的位置信息控制取货托盘4运行至该定位标签定位的货道8出货口进行取货，定位标签所在的位置与触点15的所在的位置相对应，即定位标签和触点15的位置方位是固定的，因此在定位该定位标签时，就可以映射其相应的触点15所在的具体位置；同时接头16也是与该触点15的位置相匹配，因此，在货道8出货口进行取货时，接头16伸出即可与触点15相触以接通电。因此，结合定位标签可以对售货机的某一货道8进行取货时，单独给该货道8的第一驱动电机12供电以驱动货物运动至取货托盘4。触点15优选为两个正负两极接触端，相应接头16具有与触点15相匹配的两极接触端。
控制器根据定位标签的位置信息控制取货托盘4运行至货道8的出货口进行取货时，控制器根据定位标签的识别或者从已经存在该目标货道的定位信息精准计算该取货托盘4运行至该目标货道的步数或距离与该目标货道的位置信息比对相吻合时，控制器控制接头16与触点15相触接，电源向第一驱动电机12通电，第一驱动电机12驱动该货道8上的货物运动至取货托盘4；在取货托盘4装载到货物后，控制器控制接头16与触点15断开，电源与第一驱动电机12不通电，第一驱动电机12停止驱动该货道8上的货物，或者货物感应装置检测到货物进入取货托盘4后，货物感应装置向控制器发送开关信号，控制器根据该开关信号进行控制接头16缩回并与触点15断开，第一驱动电机12停止驱动该货道8上的货物，接着控制装载有货物的取货托盘4运行至出货口。最后控制器控制车体2横向运行和取货托盘4纵向运行，将货物运送至出货口，以待购买者最终拿到货物。
本实施例中，优选的定位标签为能够反射光线的定位标签；标签识别传感器28为光敏传感器，以上定位标签和标签识别传感器28依情况而定进行设置，只要定位标签与标签识别传感器28相匹配即可。定位标签能反射光敏传感器发出的光线，即反射光强值与该光敏传感器预设的反射光强值相吻合。定位标签均根据货道8的数量增减灵活增设于货道8上用于定位；定位标签设在货架体5的任意位置，只要定位标签能定位货架体5的层数、货道8位置，以及在将每个货架体5作为一个区域进行定位时，定位标签能够定位该区域以及原点即可，一台售货机中可以由一个或数个货架体5组合而成。定位标签的反射率和货架体5的反射率不相同；取货托盘4设有与控制器通信的光敏传感器，光敏传感器设定识别的反射光强值与定位标签反射光强值相吻合就输出开关信号，开关信号触发控制器设定定位标签的位置信息，控制器根据位置信息控制定位取货托盘4运行至该定位标签所对应的货道8进行取货。
具体的，货道驱动系统还包括存储模块；存储模块存储定位标签的位置信息，用于在调取存储的位置信息时，控制器根据该位置信息控制车体2上的驱动电机驱动车体2沿着轨道运行，实现取货托盘4横向运行，取货托盘4由驱动电机驱动沿支架3纵向运行，因此该取货托盘4可以沿横向和纵向运行至货道8进行定位取货。定位标签的反射率和货架体5的反射率不相同，因此光敏传感器可以正确区分定位标签反射光强和货架体5反射光强的不同，从而准确地识别定位标签反射光强并输出开关信号；开关信号精准触发控制器进行计算和设定该定位标签的具体位置信息并存储；在触发某一已存储的位置时，控制器根据该定位标签的位置信息直接控制驱动装置驱动取货托盘4运行并控制取货托盘4运行至该定位标签所定位货架体5上的货道8进行取货操作，取货时间短，效率高。同时，依需要，当该定位标签需要定位货架体5上的货道8或者货架体5的层数或者每个货架体5为一个区域以及货架的具体原点等等需要定位的位置时，只需光敏传感器识别并触发控制器进行计算及设定位置信息并存储即可。因此增减货道8或层数或区域均可以通过增减相应的定位标签进行定位布局，并通过光敏传感器逐一识别并触发控制器进行计算及设定位置信息并保存所有货道8或所有层数或所有区域的位置信息，方便于灵活增减货架体5的货道8或货架体5的层数或每个货架体5。
具体的，定位标签包括能够反射光线的的货道定位标签6，标签识别传感器28包括第一光敏传感器，第一光敏传感器用于识别的货道定位标签6的反射光强并输出货道开关信号，货道开关信号触发控制器设定货道定位标签6的位置信息并存储。在对整个货架的货道定位标签6的位置信息进行识别存储时，先沿纵向逐个识别最左侧或者最右侧的货道定位标签6，这样可识别货架体5有多少层及每一层的高度，最后再沿横向对各层的货道8逐个识别，横向底端和纵向顶端均有极限限位，因此，整个货架体5就可以定位各个货道8的位置信息并存储。在触发某一已存储的位置信息时，控制器先控制第一光敏传感器根据最左侧或者最右侧的货道定位标签6识别到该货道8所在的层数后，再控制第一光敏传感器进行横向逐个识别找到目标货道定位标签6定位的货道8进行取货，控制取货托盘4在该货道定位标签6所在的货架体5上的货道8进行取货操作。即控制器根据该货道定位标签6的位置信息直接控制车体2驱动取货托盘4运行及控制取货托盘4运行至该货道定位标签6所定位货架体5上的货道8进行取货操作，取货时间短，效率高。
进一步的，货架体5每层还设有能够反射光线的的层定位标签9；层定位标签9在一条直线上，最佳为垂直于车体2横向移动方向；第一光敏传感器识别层定位标签9的反射光强并输出层开关信号；层开关信号精准触发控制器进行计算和设定该层定位标签9的具体位置信息并存储。在对整个货架体5的层定位标签9和货道定位标签6的位置信息进行识别存储时，需要先对层定位标签9进行识别后，再对每一层的货道定位标签6进行识别，通过层定位标签9实现对取货托盘4垂直方向的定位，进而进行货架体5每层的定位，而通过货道定位标签6实现对取货托盘4的取货端的横向位置的货道8的定位，进而进行货物容置的货道8的定位寻找，通过两种设于横向和纵向的位置定位配合，共同实现对货物的精确定位，从而便于取货托盘4对售卖的货物进行准确取货。在触发某一已存储的位置信息时，控制器先控制第一光敏传感器根据纵向的层定位标签9识别到该货道8所在的层数后，再控制第一光敏传感器进行横向逐个识别找到货道定位标签6定位的货道8，接着控制取货托盘4在该货道定位标签6所在的货架体5上的货道8进行取货操作。即控制器根据该货道8的层定位标签9和货道定位标签6的位置信息直接控制车体2驱动取货托盘4运行及控制取货托盘4运行至该层定位标签9和货道定位标签6所定位货架体5上的货道8进行取货操作，取货时间短，效率高。这种定位方式简单易行，定位装置易于设置，系统整体的工作方式即实现了精确定位，又实现了定位系统的简单化。依需求，可增减货架体5的层数，只需在增减的层上增减相应的层定位标签9即可进行定位布局，并通过第一光敏传感器逐一识别，触发控制器进行计算和设定位置信息并保存所有层数的位置信息，便于灵活增减货架体5的层数。
本实施例中，由层定位标签9和货道定位标签6结合形成的位置信息为该货道定位标签6所标定的该货架体5上的每个货道8位置和层定位标签9所标定的该货架体5上每层位置，即该位置信息标定货物在哪一层和第几个货道8；层定位标签9安装在每一层的最左侧的第一个位置或者在最右侧的第一个位置；可以依情况确定层定位标签9的安装位置。
进一步的，每个货架体5还设有能够反射光线的的区域定位标签10；标签识别传感器28包括第二光敏传感器，车体2设有第二光敏传感器；第二光敏传感器用于识别区域定位标签10的反射光强并输出区域开关信号，区域开关信号触发控制器进行计算和设定区域定位标签10的位置信息并存储。
区域定位标签10定位每一个货架体5的位置；因此，货道8由定位各个货架的区域定位标签10、纵向定位的层定位标签9和横向定位的货道定位标签6共同定位；每一个区域定位标签10只定位一个货架体5，每一个货架体5均设有区域定位标签10，每个货架体5有一层或数层及数个货道8。在售货机有一个或者数个货架体5时，需要区域定位标签10定位每一个货架体5的位置；在售货机中，增加或减少货架体5时，相应的也会增加或减少区域定位标签10，每个区域定位标签10定位每一个货架体5的位置信息。区域定位标签10的设置方便于随意增加或减少货架体5； 依需求，可增减货架体5，只需在增减的货架体5上增减相应的区域定位标签10即可进行定位布局，并通过第二光敏传感器逐一识别区域定位标签10，触发控制器进行计算和设定位置信息并存储所有货架体5的位置信息，方便于灵活增减货架体5的数目。在售货机中，一个货柜可有一个或者数个货架体5，因此，售货机可以任意增加或减少货柜。本实施例中，区域定位标签10设于货架体5的下端，比货架体5最低的一层的层定位标签9低，可以与所有的层定位标签9不在同一直线上；或者可以使用第一光敏传感器代替第二光敏传感器进行识别区域定位标签10的反射光强并输出开关信号，开关信号触发控制器进行计算和设定区域定位标签10的位置信息并存储，且区域定位标签10与层定位标签9在一条直线上，该直线可以是垂直的，也可以是其他斜线。
在对整个货架体5的货道8的位置信息进行识别存储时，即对区域定位标签10、层定位标签9和货道定位标签6的位置信息进行识别并同时存储三个标签定位每一个货道8的位置信息，需要车体2在货架体5的最下端先横向识别所有区域定位标签10，识别有多少个货架体5；而后从最左到最右或最右到最左以各个货架体5为单位先对纵向层定位标签9进行识别，实现对货架体5垂直方向的层数的识别，最后通过货架体5每层的货道定位标签6实现货道8的识别定位，此时该货道8由控制器设定其具体的位置信息，由区域定位标签10位置信息、层定位标签9位置信息和货道定位标签6位置信息共同定位，共同实现对货道8的精确定位，从而便于取货托盘4对售卖的货物进行准确取货。在触发某一已存储的位置信息时，控制器先控制第二光敏传感器根据区域定位标签10识别到该货架体5后，再控制第一光敏传感器根据纵向的层定位标签9识别到该货道8所在的层数，最后控制第一光敏传感器沿横向逐个识别找到货道定位标签6定位的货道8进行取货，控制取货托盘4在该货道定位标签6所在的货架体5上的货道8进行取货操作。即控制器根据该货道8的区域定位标签10、层定位标签9和货道定位标签6的位置信息直接控制车体2驱动取货托盘4运行及控制取货托盘4运行至该层定位标签9和货道定位标签6所定位货架体5上的货道8进行取货操作，取货时间短，效率高。增减货架体5均不影响定位取货。
进一步的，货架体5还设有能够反射光线的原点定位标签11，标签识别传感器28包括第三光敏传感器，；设于车体2上的第三光敏传感器用于识别的原点定位标签11的反射光强并输出原点开关信号，原点开关信号触发控制器计算和设定原点定位标签11的位置信息，即原点的坐标。本实施例中，原点定位标签设于该货架体5的底端，可以设置于底端的横向左右极限位置，也可以用极限定位标签来代替。
在对整个货架体5的货道8的位置信息进行识别存储时，车体2上的第三光敏传感器先识别原点定位标签11，车体2上的第二光敏传感器再识别区域定位标签10，最后设置在取货托盘4上的第一光敏传感器分别识别层定位标签9和货道定位标签6的位置信息并同时存储该三个标签定位的每一个货道8的坐标位置信息；每一个货道8的坐标都是相对于原点定位标签11设定，在整体货架体5或拼接后若干个货架体5的横向底端两个极限位置设有极限定位标签，纵向顶端的两个极限位置设有极限定位标签。区域定位标签10用于区分各个货架体5，区域定位标签10允许各个货架体5任意设定层数，因每一个区域定位标签10只对应其所设在的货架体5的位置信息，在对层定位标签9和货道定位标签6进行识别时，是以每一个货架体5为单位，即第一光敏传感器以每个货架体5为一个独立区域单位对每一个货架体5的层定位标签9进行识别，最终识别货道定位标签6。因此，各个货架体5可以任意设定层数。
以原点定位标签11的位置为原点坐标，层定位标签9相当于纵坐标，货道定位标签6相当于横坐标；货道定位标签6所标记的货道8的坐标就是横坐标，纵坐标为层定位标签9，以及还加上该货道定位标签6所在的区域定位标签10的区域位置信息，得到该货架体5的具体的横坐标和纵坐标，三者共同定位该货道8的位置信息。因此，在触发某一已存储的位置信息时，控制器确定该货道8所在的货架体5的位置，计算取货托盘4当前位置与该货道8的横坐标和纵坐标的距离，控制车体2同时横向驱动和纵向驱动取货托盘4运行至该货道8进行取货，取货时间短，效率高。
进一步的，隔物杆7根据容纳货物尺寸的不同活动扣合在货架体5上，定位标签与货物容置空间相匹配，即货道8由该定位标签标定具体的位置信息。以上阐述的隔物杆7根据容纳货物尺寸的不同活动扣合在货架体5上，即该隔物杆7能依欲形成的货道8的尺寸直接与货架体5扣合，完成货道8的搭建，由于隔物杆7能活动扣合，在不同的层数的货架体5可以根据需要设置不同数量的隔物杆7，形成不同数量的货道8，设置简单方便。
进一步的，定位标签可直接设置于货架体5上，也可以将定位标签设于扣合件17上，定位标签通过扣合件27活动扣合于货架体5。因此在修改货道8数量时，直接将设置有定位标签的扣合件27扣合与货架体5上，扣合件27可以设置有卡钩，货架体5上设置有卡口，卡钩可以与卡口直接扣合固定连接。同样层定位标签9也采用扣合件27与货架体5扣合连接，因此，触点15与相应的定位标签可以设置在扣合件27上，定位标签可以是货道定位标签6等等。
进一步的，货道驱动系统还包括用于操作购买的触摸显示屏，触摸显示屏设置于售货机机体1上；触摸显示屏与主控制器通信连接，触摸显示屏显示主控制器存储的该售货机的所有区域定位标签10位置信息、层定位标签9位置信息和货道定位标签6的位置信息，即货架体5、货道8和层的位置信息，货架体5上的货道8的待售商品显示于触摸显示屏上且与位置信息相对应关联，以待客户点击购买；在点击购买某件商品时，触发该商品所关联的位置信息发送给控制器，控制器查找该位置信息并对比认证是否存在，如存在，则控制取货托盘4运行至该货道8进行取货。不存在，就进行报错。
进一步的，货道驱动系统还包括用于操作购买的移动终端，移动终端通过服务器与控制器通信连接；移动终端显示主控制器存储的售货机的所有区域定位标签10位置信息、层定位标签9位置信息和货道定位标签6的位置信息，即货架体5、货道8和层相结合的位置信息，位置信息与货架体5层上的货道8的待售商品显示于移动终端上且相互关联，以待客户点击购买；在点击购买某件商品时，触发该商品所关联的位置信息并由服务器发送给控制器，控制器查找该位置信息并对比认证是否存在，如存在，则控制取货托盘4运行至该货道8进行取货。不存在，就进行报错。
本实施例中优选的，光敏传感器包括的第一光敏传感器、第二光敏传感器、第三光敏传感器均为红外传感器。光敏传感器可以为其他种类，定位标签包括的区域定位标签10、层定位标签9、货道定位标签6和原点定位标签，定位标签依光敏传感器的改变与之相适配。以上定位标签与光敏传感器之间的最佳识别距离可以依情况而定。因此，区域定位标签10、层定位标签9、货道定位标签6和原点定位标签共同精准定位货道8具体的位置信息，且触点15与域定位标签10、层定位标签9、货道定位标签6和原点定位标签相对应，从而更准确地定位接头16与触点15相触接。
发明还涉及一种售货机，包括以上所述货道驱动系统。
以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (13)

  1. 一种货道驱动系统，包括具有一层或若干层的货架体，取货装置，控制器，其特征在于，所述货架体包括货道，所述货道设有用于驱动货物运动至所述取货装置的第一驱动电机，所述货道设有与所述第一驱动电机电连接的触点；所述取货装置设有与电源连接的接头，所述控制器用于控制所述接头与所述触点相触接或断开。
  2. 根据权利要求1所述货道驱动系统，其特征在于，还包括驱动装置，所述控制器控制所述驱动装置驱动所述接头伸出并与所述触点相触接，所述控制器控制所述驱动装置驱动所述接头缩回并与所述触点断开。
  3. 根据权利要求2所述货道驱动系统，其特征在于，所述驱动装置为第二驱动电机，所述控制器控制所述第二驱动电机驱动所述接头伸出并与所述触点相触接和驱动所述接头缩回并与所述触点断开。
  4. 根据权利要求3所述货道驱动系统，其特征在于，所述取货装置包括固定架，所述第二驱动电机的转轴设有驱动杆，所述第二驱动电机设置于所述固定架，所述接头固定设置于滑块上，所述滑块活动设于所述固定架；所述驱动杆用于驱动所述滑块运动以控制所述接头伸出和缩回。
  5. 根据权利要求2所述货道驱动系统，其特征在于，所述驱动装置为设有回位弹簧的电磁推杆，所述控制器控制所述电磁推杆通电以驱动所述接头伸出并与所述触点相触接；所述控制器控制所述电磁推杆断电后由所述回位弹簧驱动所述接头缩回并与所述触点断开。
  6. 根据权利要求1所述货道驱动系统，其特征在于，所述触点设于扣合件上，所述触点一端用于与所述接头相触接，另一端设有接口；所述接口与所述第一驱动电机的连接线电连接；所述扣合件与所述货架体扣合连接。
  7. 根据权利要求1-6任一项所述货道驱动系统，其特征在于，所述取货装置设有用于检测货物进入取货装置的货物感应装置，所述货物感应装置与所述控制器信号连接。
  8. 根据权利要求1-6任一项所述货道驱动系统，其特征在于，所述货架体设有定位标签，所述定位标签与所述触点相对应；所述取货装置设有与所述控制器通信的标签识别传感器，所述标签识别传感器用于识别所述定位标签并输出开关信号，所述开关信号触发所述控制器设定所述定位标签的位置信息，所述控制器根据所述位置信息定位所述取货装置。
  9. 根据权利要求8所述货道驱动系统，其特征在于，所述定位标签包括能够反射光线的货道定位标签，所述标签识别传感器包括第一光敏传感器；所述第一光敏传感器用于识别所述货道定位标签并输出货道开关信号，所述货道开关信号触发所述控制器设定所述货道定位标签的位置信息。
  10. 根据权利要求9所述货道驱动系统，其特征在于，所述定位标签包括能够反射光线的层定位标签，所述货架体的每层均设有所述层定位标签；所述第一光敏传感器用于识别所述层定位标签并输出层开关信号，所述层开关信号触发所述控制器设定所述层定位标签的位置信息。
  11. 根据权利要求8所述货道驱动系统，其特征在于，所述定位标签包括能够反射光线的区域定位标签，每个所述货架体均设有区域定位标签；所述标签识别传感器包括第二光敏传感器；所述取货装置包括车体，所述车体设有第二光敏传感器，所述第二光敏传感器用于识别的所述区域定位标签并输出区域开关信号，所述区域开关信号触发所述控制器设定所述区域定位标签的位置信息。
  12. 根据权利要求11所述货道驱动系统，其特征在于，所述定位标签包括能够反射光线的原点定位标签，所述标签识别传感器包括还第三光敏传感器；所述车体设有第三光敏传感器，所述第三光敏传感器用于识别的所述原点定位标签反射光强并输出原点开关信号，所述原点开关信号触发所述控制器设定所述原点定位标签的位置信息。
  13. 一种售货机，其特征在于，包括如权利要求1-12任一项所述的货道驱动系统。
PCT/CN2019/072118 2018-03-31 2019-01-17 一种货道驱动系统及售货机 WO2019184562A1 (zh)

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