WO2019184756A1

WO2019184756A1 - Delivery device of automatic vending system using automatically guided conveying trolley

Info

Publication number: WO2019184756A1
Application number: PCT/CN2019/078576
Authority: WO
Inventors: 黄自升
Original assignee: 黄自升
Priority date: 2018-03-28
Filing date: 2019-03-19
Publication date: 2019-10-03
Also published as: WO2019184757A1

Abstract

A delivery device of an automatic vending system: using an automatically guided conveying trolley (73) to retrieve goods (74) on a shelf channel (76); at an end of the channel, a docking device transferring the automatically guided conveying trolley (73) to another channel; then, the automatically guided conveying trolley (73) moving the goods (74) to a customer access port (78); dropping off the goods (74) and leaving, completing selling and delivery; a plurality of automatically guided conveying trolleys (73) may be provided on the shelf channel (76) and a plurality of sets of docking devices may further be provided; the automatically guided conveyor (73) and the docking device have a plurality of forms and structures so as to cooperate with each other to access the goods (74); moreover, a channel-type storage tank and a processing device operate in cooperation with the automatically guided conveying device (73).

Description

Automatic vending system shipping device using automatic guided transport vehicle

Technical field

The present invention generally relates to a construction and apparatus for storing, grabbing, transporting and processing goods within a vending machine, apparatus or system.

Background technique

First, the current known vending machine has a variety of shipping structures

● Screws, conveyor belts, etc. This type of shipping device needs to put the goods in a clear position when entering the warehouse, which is labor-intensive, and has low packing density and limited stock. Each type of goods needs to be configured with a set of shipping channels, and the structure is complicated and complicated. ,higher cost. Especially not suitable for small and low-priced goods.

● CNC push board, push hand. Use the push plate to push the goods on the cargo road from the inside out, on the defect class.

●Slides, shaped cargo lanes. This type of delivery device needs to rely on gravity to get the goods to the exit. It also requires manual placement of the goods to the entrance of the slideway when it is put into storage. It requires labor, and each type of cargo needs to be configured with a set of delivery channels. The structure is complicated and complicated, and the cost is high. Also not suitable for small and low-priced items.

● Claw / pulley sling. This is a conventional structure for catching a doll machine. The problem is that the pulley and the sling have a life problem, and the sling lacks rigidity, so that the acceleration of the grip is limited and the movement cannot be performed quickly. Moreover, the accuracy of the gripper is also limited by the sloshing of the sling, so that the shipping structure lacks stability.

●Spherical goods. Put the goods into the spherical shell, and pile the shell products in the round or conical box at the bottom, and release the lowest goods after the coin is inserted. This type of machine is only suitable for small, inexpensive items.

● CNC manipulator / grip / handle. This type of shipping device has many forms, but there are still labors when the goods are put into storage, and it is not suitable for irregular and flexible packaging goods. In addition, there is a problem that the density of the goods is low due to the movement space of the robot due to the stroke, and also because the structure is usually adopted in a vertical structure (other axes are based on the movement of the upper and lower shafts), and the stroke is large, resulting in a volume. , weight and cost degradation.

● Belt vending machine. It is like a machine gun belt type shipping method, but it cannot be directly loaded, and it is necessary to use a braid to organize the goods. Only suitable for specific products.

● Other types of vending machines still have more or less the above problems or limitations.

The above types of vending machines are particularly difficult to adapt to when selling, the variety of products is varied, the requirements for diversification, and the size, width, height and shape of commercial sales terrain scenes are not the same.

Beneficial effect

The invention improves the automatic selling device in the form of the numerical control robot/hand/hand in hand described above, which is characterized in that the goods are taken out from the front end of the cargo lane, but because the internal space of the vending machine is extremely compact and small, the robot is difficult to penetrate deeply. It is always considered to be inferior to other forms of vending equipment, and its application is limited. According to the principle of leverage, the deeper the manipulator penetrates, the more complex, firmer, larger, heavier the base and the larger mechanical travel space. Or change the inclination of the shelf layer so that the product slides out to the shelf exit by gravity, so that the robot does not need to penetrate deep into the shelf interior, but the structure also limits the flexibility of the wider application of the robot, and cannot carry the goods into the shelf. It is also impossible to make more complicated operations, and the superiority of the robot is not achieved.

The present invention proposes a new structure for an automated vending system for taking merchandise from the front end of the shelf, which enhances functions and simplifies mechanical components by applying software electronic techniques that are increasingly cost-effective. Compared with other forms of numerical control automatic vending devices (not limited to the form described in the previous paragraph), in addition to realizing the original automatic shipping function, the mechanical structure of the whole machine is simple, and it is not necessary to provide an independent shipping device for each cargo lane. Smaller size, lighter weight and lower cost, it can realize more complicated shipping routes in order to achieve more complicated processing of goods (such as cooking). The special advantage is that the whole machine has multiple terrains and occasions. Very adaptable, especially limited spaces such as narrow aisles. At the same time, the system also achieves high-density storage of goods. The present invention is an important innovation in the automated vending system.

Summary of the invention

The invention provides a shipping device for an automatic selling system: an automatic guiding conveyor and a shelf; the automatic guiding conveyor has a pick-up device capable of moving goods on the shelf; There is a shelf channel; the automated guided transport vehicle moves within the shelf channel. This combination simplifies the structure of the vending system and reduces costs. It is also especially suitable for use in narrow aisle spaces.

The invention proposes that the docking device transfers the automatic guided transport vehicle to switch to different said shelf channels; the automatic guided transport vehicle can enter the shelf to leave the docking device or enter the docking device to leave Shelves.

The invention proposes that the docking device has a rotating mechanism capable of steering the automated guided transport vehicle.

The invention provides that the automatic guided transport vehicle has a locking device; the docking device has a paired locking device; when the locking device enters the locked state, the automatic guided transport vehicle cannot move. The locking device is combined with the lifting mechanism described below, so that the structure is simplified and the cost is low.

The invention proposes that the automatic guided transport vehicle has a lifting mechanism and can move up and down.

The invention proposes that the automatic guided transport vehicle has a steering device or a translation device. The integrated guiding device in the automatic guided conveyor facilitates the reduction of system cost and also increases the flexibility of the shape and structure of the shelf channel.

The present invention proposes that there are left and right moving means for moving the end structure to the left and right. Thus, the system is more suitable for grabbing and moving small-volume items.

The invention provides a fork-like structure capable of supporting cargo from the bottom; the fork-like structure is connected with the lifting mechanism, capable of lifting the cargo to disengage the cargo from the bottom support surface; the shelf channel has a protrusion And the groove; the lifting mechanism is lowered to hide the fork-like structure in the groove; and the lifting mechanism is raised to make the fork-shaped structure higher than the protrusion. Compared with the manipulator, the fork structure is simple, the cost is low, and the matching profile can be made narrower, so that the whole vending machine is narrower and more suitable for narrow aisles.

The invention provides that the automatic guided transport vehicle has a power storage device; the docking device has a charging device; and the charging device charges the power storage device. The advantage is that it can save the trouble of connecting the power cord, the metal fatigue without repeated bending of the wire, and the longer life.

The invention proposes that the shelf channel has an upper and lower limit structure, so that the automatic guided transport vehicle cannot be displaced up and down.

The invention proposes that: the shelf channel has a profile; the profile has side grooves; the side grooves are located on both sides of the profile and face both sides; the side grooves are located below the plane of the profile supporting the goods; The rollers guiding the conveyor are hidden in the recesses.

The invention proposes that there is a customer access opening in the shelf through which the shelf channel passes.

The invention proposes that there is a binding device capable of combining or separating the docking device with the automatic guided transport vehicle; when the automatic guided transport vehicle and the docking device are combined, moving together; When the self-guided transport vehicle and the docking device are separated, they move independently.

The invention provides that: the binding device has a buckle seat and a buckle; the buckle seat is located in the docking device; the buckle is located in the automatic guided transport vehicle; the buckle seat has a slope; The buckle seat has an electromagnet; the extension shaft of the electromagnet extends out of the slope of the buckle seat; the buckle also has a slope; the buckle has a buckle hole, which can be passed through the extension shaft of the electromagnet; The buckle and the buckle seat are combined by a bevel and an extension shaft.

The invention provides: a positive automatic guided transport vehicle and a reverse automatic guided transport vehicle; after the two automatic guided transport vehicles exchange the seized goods, the goods can be transported to the docking The other side of the motion channel of the device. Multiple automatic guided transport vehicles or mechanical claws work together to enhance the function and performance of the system.

The invention proposes: there is a processing device; there is a passage in the processing device; there is a lifting platform in the passage, which can rise and fall; the automatic guiding conveyance vehicle moves in the passage, and the food container can be taken up and lowered on the descending lifting platform.

The invention provides that the processing device has a compartment therein, and divides the internal space into an upper space and a lower space; the lower space includes the passage of the automatic guided vehicle to move; The floor has a lifting passage, and the lifting platform is raised and lowered in the lifting passage; after the lifting platform is raised, the upper space is closed together with the partition.

The invention provides a channel type storage box with a passage therein and two ends therethrough; the goods are stored in the passage of the channel type storage box; the automatic guided conveyance vehicle enters the passage to take and place the goods; The channeled storage tank is placed in the shelf channel. The processing device has the advantages of low structural cost, simple structure, easy modularization, and better cooperation with the automatic guided transporter to grab goods.

The present invention proposes a method based on an automated sales system for an automated guided transport vehicle:

Step 1, the automatic guided transport vehicle enters the shelf channel;

Step 2, the automatic guided transport vehicle moves the stacked goods to the proximal end of one of the shelf channels;

Step 3, the automatic guided transport vehicle puts down or loosens the stacked goods;

Step 4, the self-guided transport vehicle is returned and separated from the shelf channel;

Step 5, the automatic guided transport vehicle moves to a position flush with the top product in the stacked product;

Step 6, the automatic guided transport vehicle obtains the top goods in the stacked goods;

In step 7, the automatic guided conveyor belt is returned with the commodity and is separated from the shelf channel.

The above method enables the system to realize stacked high-density product storage, and at the same time, the product access is more stable and reliable, and the system cost is lower.

DRAWINGS

Figure 1 Schematic diagram of the front side Figure 9 Top side view of the figure Figure 16 Schematic diagram of the profile

Figure 2 Front view (front left rotated 90 degrees, left up) Figure 17 side view

Figure 3 Top front view Figure 10 Profile direction view Figure 18 Upper side view

Figure 4 Front view Figure 11 Upper side view Figure 19 Upper side view

Figure 5 Upper side view Figure 12 Upper side view Figure 20 Side view

Fig. 6 Profile sectional view Fig. 13 Profile orientation view Fig. 21 Front side view

Figure 7 Side view Figure 14 Rear upper side view Figure 22 Front side view

Figure 8 Side view Figure 15 Upper side view Figure 23 Front side view

Figure 24 is a side view of the main side Figure 34 is a side view of the side view Figure 44 upper side view

Figure 25 is a side view of the main side Figure 35 is a side view of the side view Figure 45

Figure 26 is a schematic side view of the main body Figure 36 is a schematic side view of the main Figure

Figure 27 Front side view Figure 37 Front side view Figure 47 Upper side view

Figure 28 Front side view Figure 38 Front side view Figure 48 Upper side view

Figure 29 Front side view Figure 39 Upper side view Figure 49 Upper side view

Figure 30 Front side view Figure 40 Upper side view Figure 50 Upper side view exploded view

Figure 31 Upper side view Figure 41 Forward sectional view Figure 51 Forward view

Figure 32 Front side view Figure 42 Top front view Figure 52 Forward view

Figure 33 is a side view of the side view Figure 43 upper side view

detailed description

The simplest embodiment includes: a shelf, a docking device, and an automated guided transport vehicle.

The docking device is a vertically moving numerical control device with a (cargo) passage on the shelf, and the docking device also has a transfer passage parallel to the shelf channel. The docking device interfaces one of the transfer channel and the shelf channel. The trolley moves freely along the passage. In some embodiments, the shelf channel has a moving positioning mechanism for automatically guiding the transport vehicle, such as a guide rail, a groove, a protrusion, a limit plate, an optical signal track, or a magnetic signal track, etc., and the automatic guided transport vehicle moves along Move the positioning mechanism.

The self-guided transport vehicle is a micro-robot transport vehicle that is similar in size to the merchandise and can handle and move goods. When picking up the goods, the cart has pick-up devices (such as trays, mechanical claws, switchable permanent magnet magnet suction cups, etc.) that can move the goods on the shelves, together with the goods, from the shelf channel to the transfer channel in the docking device. . Then, move the goods to the customer's pickup.

The automatic guided transport vehicle and the docking device can be separated from each other. When the two are separated, the automatic guided transport vehicle directly enters the rack passage and moves therein, and can completely leave the range of the docking device and be separated from the support. The automatic guided transporting vehicle is preferably a roller type structure. Other forms such as a hanging pulley, a crawler belt, a ball bearing, etc. can achieve the separation effect from the docking device by some designs, but the structure is complicated.

In the simplest embodiment, one of the end of the shelf channel is above the customer access opening. The docking device interfaces the transfer channel with the shelf channel, and the trolley in the transfer channel lowers the cargo at the end of the channel and then pushes the cargo off the customer's access port. Shipment is complete.

Single docking channel embodiment : The internal structure is as shown in the front view of Fig. 1, and the product (71) is located above the shelf profile (21). The automated guided transport vehicle (73) includes a movable base and a retrieval device. The self-guided transport vehicle (73) takes one of the goods (74) to be sold and finally delivers it to the customer pick-up port (78). Then, the automatic door of the customer pickup opening (78) is opened, and the customer takes out the goods therefrom, and the sale ends.

In this process, the microcomputer controls the automatic guided transport vehicle and the numerical control device transfer activity mechanism according to the preset coordinate parameters, so that the transfer profile (75) moves up and down along the docking passage (77), and one of the shelf profiles Docking, then automatically guide the transport vehicle to move along the corresponding shelf channel (76), take the cargo back and forth, and then transfer the profile (75) to move up and down along the docking channel (77) and pick up the object with the customer (78) The corresponding shelf profiles are docked, and the conveyor belt is also automatically guided to and from the cargo shelf corresponding to the customer's pick-up port, and the goods are returned to the transfer profile after the customer takes the goods. This embodiment has a simple structure and a low cost.

Rotatable adapter profile embodiment : The adapter has a rotating mechanism that allows the adapter profile to be steered. As shown in the front view of Figure 2, the adapter profile of the adapter has a rotating part (97) and a fixed part (95), which are in close contact with each other, and the seam (96) is extremely small, so that the automatic guided transport vehicle ( 98) Can pass smoothly. The trolley in this embodiment has front and rear directionality. When the automatic guided transport vehicle needs to move the cargo from the left shelf shape to the right shelf profile, the automatic guided transport carriage moves to the rotating portion (97), and the rotating mechanism in the adapter device makes the rotating portion of the transfer profile Rotate 180 degrees so that the automated guided transport vehicle above the rotating part follows the to-be-steered profile and can then move to the right to transfer the load to the right shelf profile. The fixing portion does not rotate during this process. In short, the system needs to pick up and place the goods on the left side, and the rotating mechanism turns the adapter profile rotating part and the automatic guided conveyor to the left. The system needs to pick and place the goods on the right side and turn to the right. Of course, in the other embodiments, if there is no front and rear parts, there are two sets of taking devices, both front and rear, and the rotating structure of the rotating mechanism and the transfer profile can be omitted.

Stereoscopically arranged shelf profile embodiment : As shown in the front view of Fig. 3, the transfer profile (103) can be moved horizontally in addition to the up and down movement. The transfer profile can be moved up to the interface with the shelf profile (101) and can also be moved horizontally to the interface with the shelf profile (102). In this way, the shelf profiles have a plurality of rows juxtaposed on the same horizontal plane, and because of the dense arrangement, the appearance of the vending machine is square, which is different from the other embodiments. This embodiment is more suitable for a space with a wide space.

Two or more docking channel embodiments : the internal structure is as shown in the front view of FIG. 4, having a first docking channel (84) and a second docking channel (87), correspondingly having a first adapter profile (82) and a The second adapter profile (88), the docking device enables the adapter profile to move up and down within the corresponding docking channel. There is a commodity space (86) between the shelf materials, and the commodity space is large and small according to the demand, and the commodities (91) are placed in rows. The process of selling a product is as follows:

a. The merchandise can be placed on both the first set/first row shelf profile (83) and the second set/second row shelf profile (92). The automated guided cart (89) takes an item from the second array of shelf profiles (92) and returns it to the second transfer profile profile along with the item (90).

b. The second adapter profile is re-connected to the corresponding profile of the communication channel (85), the first adapter profile is also connected to the profile corresponding to the communication channel (85), and the automatic guided conveyor is transferred to the communication channel (85). A transfer profile.

c. The first transfer profile re-buts the corresponding profile of the first row, and then automatically guides the delivery cart to place the merchandise into the merchandise/food processing equipment (80) and returns the first transfer profile. The commodity/food processing equipment is capable of handling the merchandise, for example, by slightly heating or freezing the beverage prior to sale, making the beverage more palatable, such as processing and cooking the beverage/food (microwave, hot water/hot air/hot steam spray gun) Etc.), heat preservation, cooling, refrigerating and freezing, regulating humidity, beautifying, adding ingredients, etc.

d. The automated guided conveyor removes the merchandise from the merchandise processing equipment (80) and returns to the first transfer profile again.

e. The first transfer profile is re-docked to the corresponding profile, and then the guide car is automatically guided to the customer pick-up port (81), and the first transfer profile is returned, and after the customer takes out the merchandise, the sale is completed.

f. Similar to the first second transfer profile re-docking, the trolley returns to the second transfer profile via the communication passage (85).

The provision of two docking passages allows the present embodiment to perform more complicated processing of the merchandise, and the related vending system is particularly suitable for merchandise requiring heat treatment or heat preservation processing, such as foods and drinks to be cooked.

The multiple docking channel embodiments are similar to the above two docking channels, except that there are more rows of docking channels, more transition profiles, more rows of shelf profiles, and are not repeated here.

The lifting fork type embodiment has the advantages of low cost and simple structure, and its internal structure is as shown in the side view of FIG. 5, and includes: a shelf, a docking device and an automatic guided transport vehicle. There are shelf profiles (21) on the shelves and adapter profiles (27) on the docking device. The automatic guided transport vehicle comprises: a movable base (25) and a pickup device. In this embodiment, the lifting fork device (24) is one of the preferred picking devices. The profile here refers to a straight strip of metal or plastic material with a cross-sectional shape and is widely used.

The movable base (25) has a moving mechanism that can move along the profile (21) (27). For example, the moving mechanism has rollers (22) mounted on the foot beams (23) on either side of the movable base. The lift fork device (24) is mounted to the movable base (25). The goods are placed on top of the shelf profile. The lifting fork device has a fork-like structure that can be hidden in the gap of the profile when lowered, so that the goods can be placed on the profile, and the goods placed on the profile can be lifted and moved when lifting. The adapter profile (27) is mounted on the upper and lower movable mechanism of the docking device (conventional numerical control device, here referred to as the transfer activity mechanism), and can be docked with a plurality of shelf profiles (21). The seam (26) is small and does not affect the movement of the self-guided transport carriage along the guide rail. When the movable base needs to be moved from the transfer profile to the shelf profile, the transfer mechanism interfaces the transfer profile with one of the shelf profiles, and the movable base now moves along the track of the profile to be able to move on the shelf profile And pick up the goods on the shelf profile. After picking up the goods, the automatic guided transport vehicle will bring the same goods back to the transfer profile, and then transfer the movable mechanism to re-dock or switch the transfer profile, and automatically guide the transport vehicle to continue to bring the same goods to the predetermined position, thereby realizing Delivery of goods.

The various components of this embodiment are described in detail below:

Shelf channel: There are shelf channels in the shelf, shelf profiles in the shelf channel, and adapter profiles in the docking device. The present invention does not limit the use of a uniform configuration for the two profiles, but in this embodiment, the same configuration is employed in view of cost factors, including shelf profiles and transition profiles. As shown in the sectional view of the profile, there is a vertical fin-like projection (1) for supporting the cargo. There is a groove (6) between the protrusions, which is also a sheet-like lifting fork, which can be hidden in the groove when lowered. There is a guide rail (3) on the profile, and the automatic guided transport vehicle moves along the guide rail through the roller. In other embodiments, the shape of the guide rail (3) may adopt a shape similar to a multi-strap (the shape of the roller is also changed correspondingly) to increase the friction, increase the thrust of the movable base, and prevent slippage. The limit structure (2) is used to prevent the movable base from coming off the track from above. The profile has a mounting groove for easy installation and fixing. The profile has two mounting slots (4) and a lower mounting slot (5) for mounting screws or rivets.

The movable base of the automatic guided transport vehicle: as shown in side view 7 and side view 8 , the automatic guided transport vehicle has an independent or autonomous power device, which can be driven by itself and moved along the guide rail. A front roller (31) and a rear roller (32) are mounted on the side leg beams. In this embodiment, the front roller is a passive roller that rotates following the relative movement of the movable base and the guide rail of the automatic guided transport vehicle. The rear roller is a power wheel, driven by a reduction gear such as a gear, or the motor is directly driven. According to the actual situation, there is also a limit shaft (36) that cooperates with the profile limit structure to prevent the movable base from coming off the profile.

The lifting fork device is mounted to the movable base by a fixing mechanism (34). The telescopic mechanism (33) pushes the push plate (39) of the lifting mechanism (38) so that the fork-shaped structure, that is, the fork piece (37) in the figure rises horizontally, and vice versa. Thereby picking up the goods or lowering the goods.

In some embodiments, in order to obtain the goods in both directions, the automatic guided transport vehicles each have a lifting mechanism in the forward and reverse moving directions, and each has a set of picking devices. For example, two sets of lifting forks are mounted on the movable base in a positive and negative (left and right) symmetrical manner, so that when the telescopic mechanism (33) is retracted from the left end, the other end, the right end, can push the right lifting fork device.

Pick-up device for automatically guiding the transport vehicle: In this embodiment, a lift fork device is used. From another point of view, as shown in Figure 9 above, when the push plate (13) is pushed forward, the lifting mechanism (12) lifts the fork structure/fork (11) of the lifting fork device and from the profile The gap rises out and lifts the cargo, causing the goods on the profile to come out of contact with the profile. When the push plate (13) is released, gravity causes the fork piece (11) to be lowered and hidden into the gap of the profile while placing the goods on the profile. The fork piece (11) is combined with the lifting mechanism (12) through the connection point (15), where resistance welding/spot welding is an ideal combination. The entire lifting fork device is connected to the movable base via a support (14). The invention does not limit that the forked configuration must be in the shape of a fork, and other types of fork shapes of the same function are equally feasible.

In other embodiments, mechanical jaws, vacuum suction cups or magnet suction cups, etc., may be used in conjunction with correspondingly configured profiles. For example, when selling stacked sheets of goods placed horizontally, it is more suitable for the suction of the negative suction cups from top to bottom to take the goods out of the lower stack or profile. For example, when selling a product in which the spherical shape is easy to roll, a groove can be formed on the fork structure/fork of the lifting fork, and in the profile, a storage concave corresponding to the spherical product size is also formed on the fin projection. The groove prevents the spherical goods from being displaced at will.

Docking device: Docking devices usually have a numerically controlled 1-4 degree of freedom mechanical actuator that allows the automated guided conveyor to be transferred to different shelf profiles. You can grab the cart with a robot and put the cart on a different shelf shape. Or set the CNC mechanical barbs/back buckles and transfer the automatic guided conveyors to different shelf profiles by hooking or holding the automatic guided conveyor.

In this embodiment, a transfer profile is used as a docking device. The mechanical actuator moves the adapter profiles to the same height, the same axis, and ensures that they are close together so that the gap with the shelf profile is reduced to such an extent that it does not affect the movement of the automated guided carriage. In this way, the self-guided transport vehicle can freely move with the cargo to the docking device formed by the transfer profile.

The specific construction of the numerically controlled 1-4 degrees of freedom mechanical actuator in the docking device is well known in the art and will not be repeated in this specification.

Energy supply system and charging device: The conductive rail can be arranged along the profile, and the driving mechanism of the telescopic mechanism or the roller in the movable base can obtain electric energy from the conductive rail through the conductive sliding piece (like the vehicle tram).

In this embodiment, a low-cost solution is adopted, and a charging device (such as a positive and negative electrode) is disposed on a side of the adapter profile of the docking device, and a power storage device is disposed in the movable base of the automatic guided conveyor, for example, Rechargeable batteries (chemical batteries such as lead-acid batteries, lithium batteries, and nickel-metal hydride batteries). For another example, a plurality of farad capacitors are used to renew electrical energy. In the prior art, the system can be operated for about 2-3 minutes on a single charge, and the charging time can be as short as less than one second, which is very suitable for such applications. Then the system will charge the active base when the active base moves to the end of the transfer profile. When the movable base leaves the transfer profile, the automatic guided transport vehicle is mainly powered by the energy storage device.

A charging device is implemented, for example, as shown in the upper side view of FIG. 12, when the automatic guided transport vehicle moves toward the electrode (ie, the end of the transfer profile), the charging power supply electrode (109) passes through the outer casing electrode hole (108), directly and internally. When the spring piece of the circuit contacts, the internal charging circuit is turned on and enters the charging state. The electrode holes can be wrapped with an insulating material to enhance safety and prevent the electrode from accidentally touching the metal casing of the conveyor. The charging power supply electrode is usually made of copper and has a wear-resistant layer on the surface. The spring piece that is in contact with the electrode can be provided with an elastic buckle to buckle the end of the electrode to make the contact between the two more stable. It is also possible to use a spring structure similar to the battery case in contact with the negative electrode of the battery, so that the spring is used for better elasticity and longer life.

The combination and working mode of the system: from another angle, as seen from the direction of the ends of the profile, as shown in Figure 10 along the profile direction, the profile (45) has a plurality of fin-like projections (46) for lifting the fork device The fork structure/fork (47) is hidden in the groove between the fin-like projections, and when the cargo is moved, it is lifted upward to expose and support the cargo. The profile limiting structure (48) cooperates with the limit shaft or the roller shaft (49) to define the range of motion of the movable base to prevent accidental (eg, when transporting the vending machine) out of the guide rail (44). The shape of the guide rail (44) cooperates with the shape of the roller. The front roller (43) is small and is a passive roller. The rear roller (41) is coupled to the transmission mechanism (42) to drive the movable base of the automated guided transport vehicle to move along the guide rail to move the cargo.

Automatically guide the communication of the transport vehicle: The automatic guided transport vehicle can communicate with the host computer when it is connected to the docking device for charging. It is also possible to use wireless communication. As another example, a laser or LED signal transmitting device can be placed at the docking device to issue commands to the automated guided transport vehicle at the shelf. The automatic guided transport vehicle can also send signals to the docking device in the same manner.

Furthermore, if the vending system does not use a full metal casing, ie without shielding, the car can communicate directly with the host computer using the radio communication module. The main control computer can be placed outside, in addition to being placed inside the vending system.

In some embodiments, the trolley transmits information using the optical communication and docking device as above, and then the docking device is connected to the radio module (a variety of mature technologies such as RS485), and the radio module transmits relevant information to the Internet, or accepts and forwards the Internet. The information, that is, the information from the cloud server is transmitted through the Internet, and the action of the car is controlled by the cloud server. In this way, it is not necessary to set a high-performance high-performance main control computer in the trolley, and the circuit in the automatic sales system is composed only of the single-chip module. The transaction is carried out by mobile phone transaction, and the transaction is completed by the server. After the transaction is completed, the server controls the car and other devices in the automatic sales system to complete the shipment device. Because the high-performance main control computer, the currency trading device, and the touch screen liquid crystal display are omitted, the cost is greatly reduced, and the advantage is obvious.

A narrow embodiment is another important implementation. It is especially suitable for selling drinks, snacks, etc. on both sides of a narrow aisle, and the cost is very low.

As shown in the side view of Fig. 11, the movable base (63) moves along the guide rail of the shelf profile (61), and the fork structure/fork of the lift fork device (62) is hidden in the shelf profile fin-like projection. Among the grooves.

From another point of view, as shown in Fig. 13 along the profile direction, the shelf profile (section) has a narrow neck (66) in the middle and a side groove (67) on both sides of the neck. The side grooves face the sides of the profile and are located below the plane of the shelf profile supporting the cargo. The internal drive motor (65) of the movable base, together with the rollers, are all located in the side recesses. The upper portion of the movable base is supported by the side plates (64). Since the section of the profile is of a high and narrow shape, the side panels are also high. Since most of the driving devices such as the motor roller are buried in the space of the side grooves, the structure can occupy less width and is therefore more suitable for narrow aisles.

Fixing device: When the automatic selling device is installed and transported (for example, in the case of inversion or tipping), in order to prevent the automatic guiding conveyor from being displaced at will, a locking device can be arranged on the side of the adapter profile, which can be locked back. Automatic guided conveyor for adapter profiles.

In some embodiments, the locking device can be a snap and a hook. When the buckle and the hook are combined, the spring is buckled, and when the separation is required, the small motor and the electromagnet are controlled to open and close, thereby being combined or separated from the movable base (refer to or directly use the structure of the supermarket door storage box door lock buckle, two The construction is similar, and the specific structural details belong to the well-known knowledge). When the vending device is in a normal working state, the buckle and the hook are separated, and the movable base can be freely moved along the guide rail. When the vending system is in an inoperative state, the buckle is closed and the active base is locked and cannot be moved. Or, the locking mechanism locks the movable base each time the movable base stays in the transfer profile, and the locking device opens only when the movable base needs to be moved.

Another embodiment, as shown in the upper side view of Fig. 15, is that the buckle (106) is located at the end of the motor shaft of the motor (107). In the unlocked state, the buckle and the card hole (105) on the back of the automatic guided transport vehicle have the same angle. The movement of the automatic guided transport vehicle is not limited. When the sensor or the switch detects that the automatic guided transport vehicle moves to a certain position toward the buckle, the automatic guided transport vehicle stops moving. At this time, the wall of the card hole of the automatic guided transport vehicle just corresponds to the groove of the buckle, and the card The buckle (106) is rotated to the corresponding angle, and the embodiment is rotated by 90 degrees, so that the buckle wall is locked by the buckle, so that the trolley enters the locked state and cannot move freely along the guide rail. When the unlocking state is required, the motor shaft and the buckle are turned to the original angle, that is, the angle corresponding to the card hole, and the trolley can move freely along the guide rail.

Related sensors: By setting the sensors in multiple places, you can increase the stability of the system, for example,

a. By touching the sensor or the proximity infrared sensor, confirm whether the movable base touches the obstacle during the movement of the mobile base or goes to the end of the stroke, so that the coordinate information of the goods stored in the computer can be compared or confirmed.

b. During the movement, confirm the presence of the profile or guide rail through the reflection sensor, and confirm the presence of the profile or guide rail. If necessary, stop the brakes to prevent the roller of the movable base from being emptied during the movement.

c. The above locking device sets the sensor to confirm whether the movable base is locked.

d. Print the scale on the profile or the conductor rail, and cooperate with the sensor to confirm the moving distance of the movable base, thereby correcting the movement error and preventing erroneous operation.

e. The slotted photoelectric sensor is arranged on the automatic guiding conveyor. When the shading plate used as the coordinate correction cuts the slot photoelectric sensor, the current coordinate of the automatic guiding conveyor can be refreshed.

f. Through the infrared sensor, determine whether there is cargo on the fork structure/fork of the lifting fork, thereby eliminating the wrong operation.

Auto-guided vehicle charging device embodiment:

As shown in the rear upper side view of Figure 14, the +24v charging device in the back of the automatic guiding vehicle, the charging electrode positive electrode (240) and the charging electrode negative electrode (241), and the communication electrode (242), when the automatic guiding conveyor When returning to the docking device and reaching the end, the charging is automatically turned on when it comes into contact with the spring of the corresponding electrode of the charging device in the docking device.

In addition, the infrared light entrance hole (243) and the infrared light exit hole (244) are used for automatically guiding the transport vehicle out of the docking device, and when the communication electrode is not in contact, the automatic guided transport vehicle and the main control computer perform Infrared modulation signal communication.

An embodiment that can lift a mechanical claw :

As shown in the side view of Fig. 12, this embodiment can employ a simplified guide rail in which the male guide rail (106) is rolled in cooperation with the concave roller (105), with the flat plate (107) in which the goods are placed.

Another example is a cross-sectional view of the profile shown in Fig. 16. In another embodiment, the concave guide rail (109) is rolled with the convex roller (108), and the middle is a flat plate (110) for placing goods.

Because there is no uneven structure, the profiles of the above two embodiments are very low in cost and suitable for a single large-scale application.

There is an automatic guided conveyor with a lifting claw:

As shown in side view 17, the mechanical jaw assembly (112) is mounted above the lift mechanism (114) such that the mechanical jaw assembly can be moved up and down relative to the automated guided transport vehicle (115). The mechanical claw device has a mechanical claw (111) driven by a motor (113). The mechanical claws can be elastically opened and closed to grasp the cargo between the two claws.

As shown in Figure 18 of the above side view, both jaws have joints (118) that allow the two jaws to open and close in parallel. The inside of the mechanical claw (117) has a groove or a card position to embed an elastic material such as a rubber strip to make the cargo more securely grasped. At the end of the two jaws there is a reflection and counter-infrared sensor (116) that detects if the cargo has moved past the end of the jaw and also detects if the cargo has moved to the center of the jaw.

The way it works, when it is necessary to obtain the goods, the automatic guided transport vehicle moves toward the goods, and the two claws are opened. When the infrared sensor detects the intensity peak of the reflected light, it means that the cargo convex portion faces the end of the two claws. Then, the automatic guided transport vehicle continues to move. When the infrared sensor detects the trough of the reflected light, it means that the arrangement gap between the goods is opposite to the end of the two claws. The process is that when the cargo moves relatively between the two jaws and the ends of the two jaws do not cross the cargo gap, the two jaws are brought together to grip the cargo. The lifting mechanism (114) then lifts the gripper and the cargo. The conveyor is then automatically guided back to the docking device and eventually the cargo is moved to the customer access opening. The lifting mechanism lowers the mechanical claws and then the mechanical claws release the cargo. Finally, the automatic guided transport vehicle leaves the customer's pick-up port, and the customer takes the goods and completes the sale.

In order to enhance the stability of the system, the end of the mechanical claw can also be set with a sensor or a tact switch for the direction of the guide rail. Once triggered, the worker does not position the cargo or other accidents, the computer can report an error and execute an error handling procedure. Similarly, for the direction of the guide rail, a forward sensor (119) may be disposed directly in front of the main body portion of the robotic gripper of the self-guided transport vehicle, and the reflection and counter-detection sensor described in the previous paragraph may be used. When the sensor detects that the preceding cargo is approaching, The automatic guided conveyor decelerates to prevent the collision of the vehicle, or the sudden deceleration, causing the wheel to slip, which leads to errors in the computer coordinate data and causes subsequent errors.

Telescopic arm buckle seat type detachable automatic guided transport vehicle embodiment :

Some embodiments have a bonding device. As shown in the above side view of Fig. 19 and the side view of Fig. 20, the two figures are joined together, and the combining device has a buckle seat (127) and a beveled buckle (123), and the automatic guided transport vehicle (122) and the telescopic arm (124) are respectively When combined, the combination of the two faces is a bevel. The robotic gripper (121) is mounted on the self-guided transport vehicle. There is an active module (125) on the telescopic arm and a stepper motor (126) on the active module. The beveled buckle is combined with the self-guided conveyor by screws (137). There is an electromagnet (128) under the buckle seat. The electromagnet has an extension shaft (132). The extension shaft passes through the buttonhole (138) and the bearing (133) such that the beveled buckle is locked by the buckle without slipping along the slope (136). The beveled buckle also has a positioning button (131) and a keyway (134) on the buckle seat to assist the locking, so that the combination of the two is more stable.

The docking device comprises a 3D rectangular coordinate numerical control actuator, the telescopic arm being its end. When both the buckle seat (127) and the bevel buckle (123) need to be separated, the telescopic arm moves downward to cause the extension shaft (132) on the electromagnet to come off the bevel buckle, thereby automatically guiding the separation of the transport vehicle and the telescopic arm. When the space is limited or there is an obstacle, the telescopic arm cannot move downward, the electromagnet is energized to cause the extension shaft to contract downward rapidly, and then the telescopic arm movable module is retracted to the rear, thereby automatically guiding the separation of the transport vehicle and the telescopic arm.

When both the buckle seat (127) and the bevel buckle (123) need to be combined, the telescopic arm moves from the bottom to the top so that the extension shaft on the electromagnet passes through the buckle hole of the bevel buckle, thereby combining the two. Similarly, when the space is limited or there is an obstacle, the electromagnet is energized to cause the extension shaft to contract downward rapidly. After the telescopic arm moves to the set coordinates, the electromagnet releases the extension shaft and passes through the buckle hole to make the automatic guide. The combination of the conveyor and the telescopic arm. When combined, the telescopic boom can be used with the automatic guided transport vehicle and the automatic guided transport vehicle activity, and transferred to other shelf channels or shelves.

A low sheet-like obstacle can be placed at the end of the shelf channel to prevent the automatic guided conveyor from accidentally falling off the shelf. Then, after the telescopic arm of the docking device is combined with the automatic guided transport vehicle, the telescopic arm only needs to lift the automatic guided transport vehicle slightly, and the self-guided transport vehicle can be taken out from the shelf passage by crossing the obstacle.

Neither of the figures describes the specific construction of the charge pole spring and the communication line spring, but these configurations exist and are available in a variety of embodiments.

The advantage of this embodiment is that the parallelism of the plurality of shelf channels is relatively low, the precision of the placement of the shelf channels is low, the requirements for manual debugging are low, and it is suitable for large-scale applications such as multiple sets of shelves.

An embodiment of a self-guided transport vehicle moving stacked goods :

In this embodiment, the vending machine greatly increases the placement density of the interior goods by a method of accessing the stacked goods using a mechanical clamp/automatic guided transport vehicle. As shown in the schematic side view - Figure 21, Figure 22, Figure 23, Figure 24, Figure 25, Figure 26, Figure 21-26 shows six states or steps of the method:

Step 1, as shown in FIG. 21, the computer controlled mechanical clamp/automatic guided transport vehicle (166) in the system is prepared to take out a stacked product (lunch box), and the lifting platform (165) of the docking device is docked. The self-guided transport vehicle on the lifting platform of the device is moved toward the bottom plate of the channel of the stacked merchandise (160), here a support profile (164). The two are finally aligned and ready to move to the next state or step.

Step 2.1, as shown in Fig. 22, the automatic guiding conveyor moves forward into the passage on the supporting profile (164), and the front of the automatic guiding conveyor has double jaws which can be opened in parallel, and the double clamp is mounted on the automatic guiding. The lifting device of the transport car, so the double clamp can move up and down, and the end of the double clamp has an infrared radiation sensor. At this time, the double pliers are opened and the automatic guided conveyance vehicle continues to move forward. When the infrared light of the double-clamp end infrared sensor is blocked or blocked, the end of the double-clamp just enters the range of the lunch box, and then automatically guides the transport vehicle to continue moving a certain distance according to the size and placement direction of the lunch box in the computer data. After getting off the bus, the double tongs are tightened and close to the double wall on both sides of the bottom lunch box (163), lifting up slightly, holding the lunch box bilaterally, and lifting the bottom lunch box together with the upper stacked lunch box, and corresponding The support profile is out of contact.

Step 2.2, as shown in Figure 23, the three stacked lunch boxes include a top lunch box (161) and a bottom lunch box (163), which are transported by the automated guided cart (166) to the end/proximal end of the support profile (164) channel. / entrance. At this time, the main body of the automatic guided vehicle is located at the lifting platform (165) of the docking device.

In step 3, the automatic guided transport vehicle lowers the double tongs and causes the lunch box to be placed on the floor of the passage.

Step 4, as shown in Fig. 24, the self-guided transport vehicle double tongs are released to both sides. Then, it moves to the rear of the automatic guided transport vehicle and completely retreats into the lifting platform (165) of the docking device. Then, the lifting platform of the docking device moves upwards slowly, and the infrared ranging sensor (167) on the automatic guiding vehicle moves upward with the lifting platform of the docking device, and simultaneously performs forward scanning, and detects the unevenness of the stacked lunch box, infrared During the ascent of the sensor, the distance between the flange of the lunch box will be detected to be a minimum value. With this minimum value, combined with the data of the size of the lunch box in the reference database, the actual number and height position of the lunch box stack can be analyzed. And the height of the lunch box itself.

Step 5, as shown in FIG. 25, the computer calculates the height coordinates of the top lunch box (161) and the corresponding coordinates of the lifting platform (165) of the docking device according to the scanning result of the infrared distance measuring sensor (167). The lifting platform of the docking device is moved to the corresponding coordinates, and the height of the upper surface of the double-clamp of the automatic guiding conveyor is slightly lower than the height of the lower surface of the cuff of the lunch box. Then, the guided vehicle is automatically guided forward so that the double-clamp of the automatic guided transport vehicle passes over the center of gravity of the lunch box to the appropriate position of the lifted lunch box.

Step 6, as shown in Fig. 26, the double tongs are slightly lifted, and the lunch boxes are held bilaterally, so that the bottom of the top lunch box (161) is out of contact with the other lunch boxes stacked.

In step 7, the automatic guided conveyor belt is retracted with the raised or clamped top lunch box (161) and completely retracted to the lifting platform of the docking device. The lunch box is then removed and then transported to other equipment for processing or sale.

In the above steps, the operation is repeated, and the stacked lunch boxes can be taken out one by one in the order from right to left and then from top to bottom.

The method can also perform the reverse operation, that is, the height is adjusted by the docking device, and the automatic guiding conveyor truck stacks the lunch boxes one by one at the end/proximal/inlet of the channel, and then lifts the stack of the lunch boxes at the end, moves and puts them together. Vacancies in the access channel (in some embodiments, if the self-guided transport vehicle is unsupported, the pusher is used to slide the stacked goods to the designated position), and then the transport vehicle is automatically guided back to dock. The device, which implements stacked high density storage by automated guided cart handling.

In some embodiments, in order to reduce the cost of the system, a low-cost single-chip microcomputer is used inside the automatic guided transport vehicle, and the complicated operation is realized by the server, that is, the automatic guided transport vehicle and the mechanical clamp are implemented in any complicated operation/ Before and after the action, the MCU communicates with the server through the IoT module, and controls and implements these complex actions through the server.

Example of a telescopic arm clamp mechanism moving stack products

The access stacking method in the previous embodiment is not only applicable to the automatic guided transport vehicle, but also to other clamp-type mechanical devices, such as the mechanical clamp/retractable mechanical claw/retractable mechanical arm (181) in FIG. The telescopic mechanical arm is probed into the shelf to perform the method of accessing the stacked goods in the previous embodiment. That is, when the stacked products are taken out, the stacked products are slightly lifted as a whole, and the whole is moved to the end/proximal/inlet of the shelf. (Of course, in some embodiments, the stacked goods can be directly dragged directly to the entrance of the shelf channel, depending on the specific mechanical structure, such as the case where the end of the tongs has a hook.) Then, each sensor is used (infrared The feedback of the distance measuring sensor, the infrared radiation sensor or other sensors, such as the camera and the ultrasonic ranging, and the size information of the product in the database, the stacked goods are obtained from top to bottom one by one. Similarly, the reverse reverse sequence operation, stacking the goods at the entrance of the shelf channel and then moving the stacked products to the corresponding position as a whole, can store the high-density storage of each commodity.

Embodiment of overtravel access stacking goods

In this embodiment, as shown in the front side view of Fig. 27, the stroke of the docking device limits the maximum ascending height of the docking device platform (315), and its maximum ascending height is higher than the upper shelf (311), but the automatic guided transport vehicle cannot be made. (314) If the arms are higher than the second lunch box, if the stacked goods (310) are placed at the upper entrance of the shelf as in the above embodiment, the topmost item cannot be obtained because the height of the car is not enough. The stacked merchandise (310) can then be transported as a whole to the entrance of the lower shelf (317), i.e., the location of the remaining stacked merchandise (316), such that the stacked merchandise as a whole is within the arms of the automated guided transport vehicle. Thus, the automated guided transport vehicle obtains the merchandise (312) one by one by analyzing the feedback information of the sensor (313). Then, because the products other than the mechanical stroke can be obtained, the sales machine can achieve a higher storage density.

Example of automatic guided transport roof column locking device :

In this embodiment, as shown in the front side view of Fig. 28, the locking device in this embodiment includes a buckle (171), a top post (172), and a lifting device (174). When the automatic guided transport vehicle returns to the lifting platform of the docking device and enters the locked position, that is, the position where the top post is aligned with the lock (171), the motor (173) drives the lifting device (174) to rise, and the top post (172) Fixed to the lifting device, when the lifting device is raised, the top column will also move upward until the latch is inserted and reaches the end of the inner hole of the buckle, that is, the coordinates are locked. At the same time, the system adopts a self-locking transmission mechanism such as a small pitch screw. Then, when the top post is inserted into the inner hole of the lock and reaches the lock (to reach the lock coordinate), the automatic guide conveyer is fixed and enters the lock. status. Since the top post (172) shares the lifting device with the clamp, such a locking device does not require an additional independent action mechanism, and thus the additional structure is simple and the cost is low.

When it is necessary to unlock the state, only the reverse rotation of the motor is required to lower the lifting device (174), reach the unlocking coordinate, and cause the top post (172) to be disengaged from the locking hole of the locking buckle (171), so that the automatic guiding conveyor enters Free movement state.

When the vending device is replaced and transported, the vending device may be tripped or even inverted, and the auto-guided cart may fall or even be damaged if it is not fixed. The locking device allows the automatic guided transport vehicle to not return to normal operation due to displacement during handling. The locking device allows the vending device to change position while resuming work without the intervention of a technician.

Example of automatic guided transport vehicle mixed with telescopic mechanical arm:

In this embodiment, as shown in the schematic side view of Fig. 29, the telescopic mechanical claw/retractable mechanical arm (181) is used in combination with the automatic guided transport vehicle (187). This embodiment has two lifting passages, the telescopic mechanical arm occupies the left hoistway, and the lifting platform (188) occupies the right hoistway. There are multiple storage shelf laminates (185) throughout the system. The automated guided transporter takes one of the items, the lunch box (186), and returns to the lifting platform.

Then, the lifting platform is lowered to a position flush with the left and right through channel laminates (191), and the automatic guided transport vehicle moves the lunch box (186) to the left and right through passage laminates along the path (189) through the left lifting passage ( 191) The exchange bit at the left end (195). After the automatic guided transporter releases the lunch box, it returns to the lifting platform (188) on the right side alone, and can continue to carry the lunch box as the case may be.

In this embodiment, the telescopic mechanical arm (181) is driven using a rack (182) to achieve telescoping. The double clamp of the telescopic robot arm is driven by the motor (183) to drive the worm gear. When the telescopic robot arm (181) moves up and down, it is in a retracted state. The telescopic arm is lowered to the bottom, and then the double pliers are extended to grip the lunch box released by the self-guided transport vehicle. After the lunch box is obtained, the lunch box is retracted, and the lunch box (180) is raised and extended, and the lunch box is placed in the commodity processing equipment (194). The commodity processing equipment has a support laminate (193) and an automatic isolation door (192). The automatic isolation door automatically opens and closes before and after the robot arm is in. The commodity processing equipment (194) finishes processing the lunch box, and the telescopic mechanical arm takes out the lunch box therefrom.

In summary, the telescopic mechanical arm (181) and the self-guided transport vehicle (187) are transferred to the lunch box through the exchange position (195), which replaces the carrying lunch box into different positions and equipment, thereby realizing a complicated process for the commodity.

The telescopic mechanical arm is easier to design for high temperature environments (such as in the oven) and quick and repeat operation than the automatic guided transporter. The automatic guided transporter is easier to carry goods for long distances.

Co-directional multi-automatic guided transport vehicle embodiment:

In this embodiment, as shown in the schematic side view of FIG. 30, the complicated operation of the product/lunch box is realized by the mutual cooperation of the automatic guided transport vehicle A (216) and the automatic guided transport vehicle B (218), if necessary, if necessary More than two automatic guided transport vehicles can be provided. The lower layer (217) of the right lifting platform is raised to a position flush with the left and right through passages (219), and the upper platform (212) of the lifting platform of the left docking device is also flush with the left and right through passages (219). Thus, the right-hand self-guided transport vehicle A (216) can go straight and can grab the merchandise into the customer pick-up device or the commodity processing device (210). The commodity processing equipment (210) has an automatic door (211) that can be opened and closed before and after the automatic guided transporter enters.

Similarly, the right side of the automatic guided transport vehicle B (218), when the lower layer of the left side lifting platform is flush with the left and right through passages (219), and when the upper layer (215) of the right lifting platform is also flush, the right side moves to the right side. The upper platform (215) is lifted and then the product/lunch box (213) of the top shelf (214) of the right shelf is grabbed by the lifting fit of the right lifting platform. By the operation similar to the above, the merchandise is taken to the commodity processing equipment (210), and various complicated processes are performed.

This embodiment is suitable for large vending systems and is also relatively inexpensive.

Example of moving the claws left and right in the channel:

In this embodiment, as shown in the side view of FIG. 31, the merchandise/boxed beverage (200) is arranged within the channel (202). The left and right moving device (201) is mounted on the automatic guided transport vehicle lifting device/lifting device, and is driven by the motor (207) to move the end structure such as the mechanical claw (206) to the left and right. The motor (205) drives the two-way screw through the gear to drive the double jaw (204) to clamp or open.

The double tongs (204) are moved to the predetermined position from left to right, the conveyor is automatically guided forward, the double tongs are swept from both sides of the product, and then one of the goods/boxed beverages (203) is clamped and clamped, and then automatically guided. The lifting device of the transport vehicle is slightly lifted, so that the double-clamp belt moves up with the product, so that the product is out of contact with the bottom support surface, and then the left and right moving devices adjust the left and right positions, so that the automatic guided transport vehicle can move the goods. The automatic guided transport vehicle arrives at a predetermined position, for example, in the customer pickup device, the left and right mobile devices adjust the left and right positions, the double clamp is opened, and the commodity is released.

This embodiment is suitable for storing and selling smaller sized items at a lower cost.

Embodiments of the double-lifting platform facing the double automatic guided transport vehicle moving the goods on both sides of the lifting passage:

In this embodiment, the vending system carries the merchandise through two reverse automatic guided transport vehicles and a lifting platform of the double-layer docking device, so that the merchandise can pass over the lifting passage of the docking device and enter the left and right sides of the lifting passage. With respect to the steerable embodiment shown in FIG. 2, the device as a whole can be thinner and the structure is simpler, as shown in the front side view - FIG. 32, FIG. 33, FIG. 34, FIG. 35, FIG. 36, FIG. -36 shows the five steps of the method of moving goods on both sides of the hoistway:

Step 1: As shown in FIG. 32, the lifting platform moves such that the top layer (223) of the lifting platform is flush with a certain channel of the shelf, and the forward automatic guiding conveyor (221) obtains the commodity/food container from the shelf on the right side of the lifting channel (222) ) and return to the top of the lifting platform (223). In this step, the reverse automatic guided transport vehicle (225) stays on the bottom of the lift platform (224).

Step 2: As shown in FIG. 33, the lifting platform moves such that the lower platform (224) of the lifting platform is flush with the other channel, and the reverse automatic guiding conveyor (225) leaves the lifting platform to enter and stay within the shelf space.

Step 3: As shown in Fig. 34, the lifting platform moves such that the lifting platform top layer (223) is flush with the in-shelf reverse automatic guiding conveyor (225), and the commodity/food container (222) is placed in the shelf channel. The inner reverse automatically guides the front of the truck.

Step 4: As shown in Fig. 35, the lifting platform moves such that the lower platform (224) of the lifting platform is flush with the channel of the reverse automatic guided transport vehicle (225) in the shelf, and the guided transport vehicle automatically picks up the goods/food containers ( 222), and bring the same goods back to the lower platform of the lifting platform (224).

Step 5: As shown in Fig. 36, the lifting platform rises, the commodity processing equipment (220) opens the door, the lifting platform moves to a suitable position, and then automatically guides the conveyor to place the goods/food container (222) to the left of the lifting channel.

Reverse the above steps to move the item from the left side of the hoistway to the right side. In short, the forward automatic guided transport vehicle accesses the goods from the forward direction, and the reverse automatic guided transport vehicle accesses the goods from the reverse direction. The middle of the two processes is: one of the automatic guided transport vehicles moves to a certain layer of the shelf. The lifting platform makes the two automatic guided transport vehicles flush, and at this time, the two automatic guided transport vehicles exchange goods.

Embodiments of a single-layer lifting platform facing a double automatic guided transport vehicle moving goods on both sides of the lifting passage:

In this embodiment, the vending system transports merchandise through the two inverted automatic guided transport vehicles and the lifting platform of the single-layer docking device, so that the merchandise can pass over the lifting passage of the docking device and enter the left and right sides of the lifting passage. The function is similar to the embodiment of the double-deck lifting platform above, except that a single-layer lifting platform is used. As shown in the schematic side view - FIG. 37 and FIG. 38, FIG. 37 and FIG. 38 respectively show the method of moving goods on both sides of the hoistway:

Step 1: As shown in FIG. 37, the automatic guided transport vehicle B (234) is hidden in the shelf from the lifting passage, and the automatic guided transport vehicle A (231) obtains a commodity/lunch box (232) from the shelf.

Step 2: The lifting platform (233) of the docking device is adjusted in position so that the automatic guided transport vehicle B and the automatic guided transport vehicle A are flush. The automatic guided transport vehicle A and the automatic guided transport vehicle B exchange lunch boxes.

Step 3: As shown in FIG. 38, the automatic guided transport vehicle A (231) is hidden in the shelf from the lifting passage, and the automatic guided transport vehicle B (234) puts the commodity/lunch box (232) into the commodity processing equipment (230). )among.

An example of a Mecanum wheel automatic guided conveyor switching channel:

The transport trolley in this embodiment has a translation and steering device, which can realize the autonomous translation of the trolley and switch channels. As shown in the schematic side view of FIG. 39, the single-layer plane (255) of the shelf can accommodate two channels for placing goods. And two rows of goods and trolleys can be placed side by side. The automatic guided conveyor chassis (251) can be equipped with an omnidirectional wheel or a Mecanum wheel (253), which controls the independent rotation of each wheel drive motor through a microcomputer to automatically guide the carriage forward, backward and translation, thereby automatically guiding The conveyor does not rely on external devices to achieve channel switching.

The upper surface of the shelf single layer plane (255) has two channels of optical signal lines (250) (254), and the optical signal lines can record various information such as distance, position coordinates, channel number, etc. by printing pattern or concave and convex pattern. The bottom of the optical sensor (252) can track and identify the optical signal line of the aforementioned channel, so as to know the current channel, the position of the channel, the distance that has been traveled, etc., and the computer sets the corresponding action according to the information. The optical signal line can be disposed on the upper surface of the shelf single layer plane (255), and can also be disposed on the lower surface while the optical sensor is disposed on the upper portion (upward) of the automated guided transport vehicle. In addition to the use of optical signals, a separate track can be placed on the shelf, and the trolley is equipped with a position wheel, so that the automatic guided transport vehicle travels along the track, thereby achieving stable movement.

An example of the memant wheel automatic guided conveyor moving between the layers of the autonomous shelves:

As shown in the side view of FIG. 40, this embodiment realizes the function of automatically guiding the movement of the conveyor floor between the conveyors, and can replace the mechanical lifting device in the docking device in other embodiments, which is another form of the docking device. In this embodiment, the structure of the automated guided transport vehicle is similar to that of the Mecanum automatic guided transport vehicle of the previous embodiment. In this embodiment, the swash plate ladder (271) is used in place of the lifting device in the docking device. A ladder platform (270) is disposed between the slanting ladders (271), and various sensors, communication devices, and charging devices can be disposed on the platform of the platform platform as needed. The computer-controlled automatic guided transport vehicle passes through the single-layer shelf (273), passes through the inclined plate ladder (271), the ladder platform (270), another inclined plate ladder, and finally reaches the next shelf. This process is repeated, automatically guiding the conveyor to any one of the shelves, thereby realizing the handling and transportation of goods between the shelves.

An embodiment of an automated guided transport vehicle utilizing cam group translation:

As shown in the front cross-sectional schematic view 41, the translating device in this embodiment has a cam group, and the cam group is used to realize the function of autonomously translating and switching channels of the auto-guided transport vehicle in the previous embodiment. In this embodiment, a cam set (264) is mounted under the automatic guided transport chassis (263). When the raised portion (266) of the cam set is rotated to the upward position, the automatic guided transport vehicle wheel (265) is lower than the cam, and the automatic guided transport vehicle is supported on the wheel; when the cam group (264) rotates, the cam convex When the starting portion (266) is facing downward, the cam is lower than the wheel, and the automatic guiding carriage is supported on the cam, so when the cam rotates at this time, the carriage translates.

Example of automatic guided transport vehicle using universal wheel translation:

As shown in the side view of Fig. 45, the automatic guided transport trolley (104) has a steering device, and the two front wheels (101) at the ends of the lower two foot beams (102) are universal wheels, when the two steps of the trolley are When the power rear wheel connected to the motor rotates in the opposite direction (not at the same speed), the car is turned overall. This embodiment eliminates the need for a Mecanum wheel and is less costly, but does not translate, requiring more space for steering and shifting.

Embodiments of the automatic guided transport vehicle and the docking device:

As shown in the front view of FIG. 42, as in this embodiment:

The self-guided transport vehicle (296) travels over the shelf deck and will return to the docking device. To highlight the focus, the components other than the docking device and the automated guided transport vehicle are hidden and are not shown in the figure. The lifting platform (289) and the weight plate (293) are respectively moved up and down along the two optical axes, and are respectively connected with a chain, and are hung on the two sides of the sprocket by the chain, so that the sprocket is balanced on both sides for lifting The station moves at high speed. The stepping motor (290) drives the sprocket through the gear, and the sprocket drives the lifting platform (289) to move up and down to realize the numerical control movement.

The automatic guided transport platform (294) is located above the lifting platform (289) and is laterally moved by the screw motor (288), that is, the automatic guided transport platform (294) can be moved up and down and laterally, Docking up and down and horizontally arranged shelf channels. In some embodiments, the self-guided conveyor platform can also be rotated so that the passages on both sides of the elevator can be docked.

In order to stabilize the movement trajectory of the automatic guided transport vehicle, the automatic guided transport platform (294) has a guide rail (295) through which the range of motion of the transport vehicle is automatically guided. In order to further prevent the automatic guided transport vehicle from being displaced at will, the automatic guided transport platform (294) and the automatic guided transport vehicle (296) have locking devices, including a card hole (291) and a post (299), the card hole (291) Located above the automatic guided transport platform, the post (299) is located on the lifting mechanism of the automatic guided transport vehicle, the card hole is a tapered hole, and the end of the post is also a cone. When the automatic guided transport vehicle enters the docking device and the post is facing the card hole, the lifting mechanism is raised to the end, and the post is inserted into the card hole, so that the locking device locks the trolley, so that the trolley cannot be freely displaced.

The self-guided transport platform (294) has a charging electrode (292) at the end. When the automatic guided transport vehicle returns to the end of the automatic guided transport platform, the elastic piece that automatically guides the back electrode of the transport vehicle contacts the charging electrode (292) elastic piece at the end of the automatic guided transport platform, then the automatic guided transport vehicle automatically Enter the charging state.

When the automated guided transport vehicle (296) enters the docking device, it is determined by the position sensor (297) whether the automated guided transport vehicle has fully entered the automated guided transport platform (294). The food container (298) is taken somewhere from the automated guided transport vehicle, and the different channels are switched by the docking device, and then the food container is transferred to a predetermined position of the predetermined passage.

Automatic guided transport vehicle and channel type food processing device

As shown in the side view of Fig. 43, there is a channel type food processing apparatus in this embodiment. The channel type food processing apparatus in this embodiment is a heating apparatus having a heat insulating casing (280). The self-guided transport vehicle (286) moves over the channel (282) below or below the food processing device, with a limited number of guides (285) on the channel, and the automated guided transport carriage carries the food picked up from the shelf along the guide rails. Goods, referred to herein as food containers (284). The automated guided transport cart places the food container on the lift table (283) of the food processing device and then returns to the docking device. Next, the screw hoist (281) in the food processing apparatus lifts the lifting platform (283) together with the food container. The lifting platform (283) is combined with the insulated housing (280) to make the interior a closed space. Then, the inside of the food processing device starts to heat up, and the food container and the food therein are processed.

When it is necessary to take out the processed food, the lifting platform is lowered, and the automatic guiding conveyor starts from the docking device and moves to the lifting platform to retrieve the food container. Then, the automatic guided transport vehicle returns to the docking device, and the lifting platform of the food processing device is reclosed (ie, the lift is recombined with the insulated housing). The air temperature in the channel type food processing device may be high, which may damage or affect the operation of the self-guided transport vehicle. At this time, the hot air may be exhausted to ensure the normal working temperature of the automatic guided vehicle.

The channel type food processing device in this embodiment can be disposed along the channel (282), and can be arranged side by side, and the lifting table of one of the food processing devices can be selected to be lowered as needed, and the automatic guiding conveyor is placed on the lifting platform. Then, the conveyor is automatically guided back, and the food processing device processes the food container and food therein.

Channel type double layer composite food processing device embodiment

As shown in the above side view of Fig. 44, the internal space of the channel type composite food processing device (71) in this embodiment is divided into two upper and lower layers by a partition plate (77), and the partition plate (77) has a lifting passage (78). Up and down space. The upper layer is a high temperature zone and the lower layer is a normal temperature zone. The upper layer is a high temperature zone, and there is an insulation layer. The convection heating system includes a heating plate (72) and a convection fan (73), which can integrally heat the upper space. The two lifting plates (79) are driven by a stepper motor (75) and a lead screw. When the lifting plate is lowered to the bottom, the mechanical clamp places one or more stacked lunch boxes (76) on the plate, and then the plate rises and overlaps the partition plate (77). Because the plates and channels are the same size, the plates can be isolated. Hot air convection in the upper high temperature zone. Thus the lunch box is heated by convective hot air until the hot working is completed.

In this embodiment, a spur-tube type circulating heating device (74) may be further provided, the flat plate is further raised, the thorn tube is inserted into the lunch box to circulate hot air to heat the internal food, and the inside and outside are simultaneously heated (high temperature zone heating and lance tube circulation heating), which is fast. Cooking. In order to isolate the hot air in the upper space from the lifting plate, it is necessary to keep the alignment plate aligned, so the lifting plate should be made thicker. The lower layer is a normal temperature zone. The temperature is not high and will not damage the electronic components. It is convenient for the automatic guiding of the car to enter. It has an automatic door to facilitate the isolation of the cold air of the storage bin. The lance tube type circulation heating device in this embodiment can be provided in plural in a modular manner.

In this embodiment, the food heating speed is fast, the heat preservation is good, and the lower temperature zone is convenient for automatically guiding the transport vehicle to enter and exit the food, and the lower channel is convenient for connecting a plurality of lifting platforms in series, which is convenient for modular design.

Server-based automatic guided transport vehicle control system embodiment:

As shown in the schematic diagram of FIG. 46, in this embodiment, the vending system uses a low-cost IoT communication module and a single-chip control module, and the customer (306) completes the transaction at the mobile terminal (307) or other network terminal because Data and artificial intelligence calculation control programs are placed on the server (300). The vending machine eliminates the need for high-performance computing chips and displays, banknotes, coin dispensers, etc., and is therefore very low cost.

The server sends the command to the Internet of Things communication module through the network (301), and the IoT communication module forwards the command to the data control bus of the vending machine. At this time, the (multiple) single-chip control module in the vending machine also receives the command. The selected MCU module in the command executes the command task and feeds back the result or status to the data bus, and finally submits the data representing the aforementioned result and status to the server through the IoT communication module. Further, the server performs related operations on the automated guided transport vehicle (302) and the docking device, as well as the food processing device (304) and the customer pickup port (303).

In short, the server sends a corresponding command to the vending machine in the form of a command response. According to the relevant feedback of the vending machine, the next sequence of commands is sent, and the MCU module operates the relevant sensors, motors and switches according to the command sequence, and passes the bus. And the IoT communication module provides feedback to the server.

Channel storage tank embodiment (easy to guide the passing of the automatic guided vehicle)

As shown in side view 47 above, in this embodiment, a channel type storage bin (362) that facilitates the automatic vending system to quickly replenish the cargo may be provided in the rack. The channel type storage box is preferably made of disposable insulation material, which is low in price and convenient for cold chain distribution. The channel type storage tank is open to both ends and penetrates to form a passage. In this embodiment, there are a plurality of channels, and a stacking lunch box (364) is arranged in the channel; a partition (366) is arranged between the channels to prevent the stacked lunch boxes from collapsing, and also to increase the strength of the storage case (363). effect. The end of the channel storage box has an end cap (361) (365), and the end cap is closed when the cold chain is delivered. When the vending machine needs to be stocked, the staff peels off the end caps and puts the full container of the channel storage box into the vending system, thereby achieving fast and efficient manual purchase. At this time, the special mechanical clamp can enter and take the goods.

As also shown in the side view 48 of the above, the veneer system has a positioning slot (311) supported by a square (314) support, and has a shape corresponding to the bottom of the storage box, and can be positioned to align the storage box. The staff pressed several boxes toward the end of the channel (ie, the right end). There are stacked lunch boxes (316) on both sides of the channel partition (317), and the mechanical clamps on the conveyor or telescopic arm enter the channel from the section (315) to grab the lunch box.

In this embodiment, during the replenishment handling process of the automatic vending device, the worker can be prevented from accidentally damaging the internal contents of the storage box, and the heat preservation and quality of the frozen food can be facilitated, and the channel type storage box is easy to be connected in series, which significantly simplifies the replenishing process and speeds up. The efficiency of staff replenishment,

Overall embodiment of a channel type storage box cooperating with an autonomous guided transport vehicle and a docking device

As also shown in the side view exploded view 50, the channel type storage box (322) (323) is arranged right above the shelf layer (321), and the autonomously guided transport vehicle (325) is based on the feedback signal of the infrared sensor (329). A lunch box (324) is taken out of the lunch box (330) inside the storage box passage and returned to the platform (326) of the docking device (328) which can be moved up and down and left and right. In order to improve the sporting performance of the docking device, a balance chain (327) is connected to the platform and the weight plate of the movable portion of the docking device. In this embodiment, the autonomously guided transport vehicle can pass through a plurality of channel type storage boxes from the inside of the passage of the storage box without a lunch box in the passage, but the front of the front wheel of the self-guided vehicle should be set downward. The sensor is used to detect the gap between the storage tanks or to detect the end of the end storage tank to prevent the wheel from falling into the gap.

This embodiment greatly simplifies the process of replenishing the automatic vending device, while simplifying the structure and improving the function.

Drawer shelf embodiment

As also shown in the side view 49 above, the vending machine shelf has a drawer drawer (393) that can be pulled out, and the staff (397) put the above-mentioned channel storage boxes (391) one by one when pulled out. Inside the shelf drawer and close to the right (there is a docking device on the right). The shelf drawer has a channel opening (398) such that the transport vehicle or telescopic robotic arm can pass through the passage opening (398) and access the contents of the storage tank (391). This configuration is particularly suitable for lunch box type foods that require frozen storage.

Embodiment of single side channel type storage box and automatic guided conveyor (integral)

As shown in the front view of Fig. 51, the lunch box (342) is placed in the channel type storage box (341), and the channel type storage box (341) is placed side by side on the shelf plate (343) and the shelf support (344). The lifting platform (350) of the docking device is pulled up by the chain (349) so that the automated guided cart (351) can be flush with the top of the stacked lunch boxes (352) and a lunch box can be taken therefrom.

In the shelf, the bottom layer has two modular customer access ports (348), and the customer access port has a door automatic switch device (347). Between the two access ports there is also a height block (346) that facilitates automatic guided transport of the trolley. In addition, this layer also has a refrigeration system (345), in which various insulation layers, cold and heat isolation doors, etc. are common knowledge and are omitted here.

Embodiment (integral) of a combination of a double-sided channel storage tank and a channel type food processing device

As shown in the front view of Fig. 52, this embodiment uses a channel type storage box, because the shelf can be probed to a shallow depth, so instead of using an automatic guided transport vehicle, a steerable multistage telescopic manipulator (372) is used. There is also a mechanical clamp (374) with a sensor at the end. Again, the system is driven by a sprocket (371) and a chain (omitted from the figure).

On the left side of the system are multiple channel storage bins (375). The mechanical clamp will plunge into the storage bin to grab the item/lunch box (376).

At the top of the right side of the system is the refrigeration system (384); in the middle is the customer access device (382) with the electric door (123). At the lower right side of the system is a channel type double-layer composite food processing device, wherein a thorn-type circulating heating device (381) pierces the inside of the lunch box to directly heat the food; the upper space is a convection heating furnace, and the heating device (380) heats the air; The lifting platform (379) can access the upper and lower spaces, and the mechanical clamps place the lunch box on the platform from the lower space. On the left side of the food processing unit is a passage opening (378) with a flip-type electric door.

The whole system transfers the lunch box in the left storage box to the right processing device through the middle steerable multi-stage telescopic robot to heat the processed food, and after the processing is completed, it is transferred to the customer pickup port and is obtained by the customer.

Base movable super large vending system embodiment

If the entire system is applied to large-scale vending systems, such as large convenience stores, pharmacies, etc. The docking device (similar to the configuration on the right side of Figure 51) can then be placed on a movable base. For example, the entire docking device is placed on a larger automatic guided transport vehicle for the movement of the integral mechanical device portion; in addition, there is a miniature automatic guided transport trolley inside the docking device for accessing the shelf. commodity. (That is, there is a small car in the big car). This embodiment is used in retail sales because the transport trolley can penetrate the cargo lane and its storage density and cost are also superior to current systems.

There are many variations to the invention, and many potential embodiments and combinations far exceed the above-mentioned embodiments and are therefore not limited by the words.

Claims

A shipping device for an automatic vending system, characterized in that:

There are automatic guided transport vehicles and shelves;

The automatic guided transport vehicle has a pick-up device capable of moving goods on the shelf;

The shelf has a shelf channel therein;

The automated guided transport vehicle moves within the shelf channel.
A shipping device for an automatic vending system according to claim 1, wherein:

The docking device transfers the automatic guided transport vehicle to switch to different said shelf channels;

The automated guided transport vehicle can enter the shelf to exit the docking device or enter the docking device to exit the shelf.
A shipping device for an automatic vending system according to claim 2, wherein:

The docking device has a rotating mechanism that can steer the automated guided transport vehicle.
A shipping device for an automatic vending system according to claim 2, wherein:

The automatic guided transport vehicle has a locking device;

The docking device has a paired locking device;

When the locking device enters the locked state, the automatic guided transport vehicle cannot move.
A shipping device for an automatic vending system according to claim 1, wherein:

The automatic guided transport vehicle has a lifting mechanism and is movable up and down.
A shipping device for an automatic vending system according to claim 5, wherein:

The automatic guided transport vehicle has a steering device or a translation device.
A shipping device for an automatic vending system according to claim 5, wherein:

There are left and right moving devices to allow the end structure to move left and right.
A shipping device for an automatic vending system according to claim 5, wherein:

a forked structure that supports the cargo from the bottom;

The fork-like structure is connected to the lifting mechanism,

Being able to lift the goods out of the bottom support surface;

The shelf channel has protrusions and grooves therein;

When the lifting mechanism is lowered, the fork structure is hidden in the groove;

The lifting mechanism is raised such that the forked configuration is higher than the projection.
A shipping device for an automatic vending system according to claim 2, wherein:

The automatic guided transport vehicle has a power storage device;

The docking device has a charging device;

The charging device charges the power storage device.
A shipping device for an automatic vending system according to claim 1, wherein:

The shelf channel has an upper and lower limit configuration, so that the automatic guided transport vehicle cannot be displaced up and down.
A shipping device for an automatic vending system according to claim 10, wherein:

The shelf channel has a profile therein;

There are side grooves on the profile;

The side grooves are located on both sides of the profile and face the two sides;

The side groove is located below the plane of the profile supporting the cargo;

The rollers of the automated guided transport vehicle are hidden within the recesses.
A shipping device for an automatic vending system according to claim 1, wherein:

There is a customer pick-up port in the shelf through which the shelf channels pass.
A shipping device for an automatic vending system according to claim 2, wherein:

a binding device capable of combining or separating the docking device with the automatic guided transport vehicle;

When the automatic guided transport vehicle and the docking device are combined, move together;

When the automatic guided transport vehicle and the docking device are separated, they move independently.
A shipping device for an automatic vending system according to claim 13, wherein:

The binding device has a buckle seat and a buckle;

The buckle seat is located at the docking device;

The buckle is located in the automatic guided transport vehicle;

The buckle seat has a slope;

The buckle seat has an electromagnet;

The protruding shaft of the electromagnet is bent out of the bevel of the buckle;

The buckle also has a slope;

The buckle has a buckle hole and can be passed through the extension shaft of the electromagnet;

The buckle and the buckle seat are combined by a bevel and an extension shaft.
A shipping device for an automatic vending system according to claim 2, wherein:

There are positive automatic guided transport vehicles and reversed automatic guided transport vehicles;

After the two automated guided vehicles exchange the seized items, the goods can be carried to the other side of the moving path of the docking device.
A shipping device for an automatic vending system according to claim 1, wherein:

Processing device;

There is a passage in the processing device;

There are lifting platforms in the passage, which can rise and fall;

The self-guided transport vehicle moves in this passage and is able to pick up and place the food container on the lowered lift platform.
A shipping device for an automatic vending system according to claim 16, wherein:

The processing device has a compartment therein, and divides the internal space into an upper space and a lower space;

The lower space includes the passage of the automatic guided vehicle movement;

The compartment has a lifting passage, and the lifting platform is raised and lowered in the lifting passage;

After the lifting platform is raised, the upper space is closed together with the partition.
A shipping device for an automatic vending system according to claim 1, wherein:

There is a channel storage box with a passage inside and two ends running through;

The goods are stored in the passage of the channel storage tank;

The automatic guided transport vehicle enters the passage to take and place the goods;

The channel type storage box is placed in the shelf channel.
A shipping device for an automatic vending system according to claim 1, wherein there is a method:

Step 1, the automatic guided transport vehicle enters the shelf channel;

Step 2, the automatic guided transport vehicle moves the stacked goods to the proximal end of one of the shelf channels;

Step 3, the automatic guided transport vehicle puts down or loosens the stacked goods;

Step 4, the self-guided transport vehicle is returned and separated from the shelf channel;

Step 5, the automatic guided transport vehicle moves to a position flush with the top product in the stacked product;

Step 6, the automatic guided transport vehicle obtains the top goods in the stacked goods;

In step 7, the automatic guided conveyor belt is returned with the commodity and is separated from the shelf channel.