WO2019196269A1 - 一种自动贩卖机的双吸盘取货机构 - Google Patents

一种自动贩卖机的双吸盘取货机构 Download PDF

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Publication number
WO2019196269A1
WO2019196269A1 PCT/CN2018/098421 CN2018098421W WO2019196269A1 WO 2019196269 A1 WO2019196269 A1 WO 2019196269A1 CN 2018098421 W CN2018098421 W CN 2018098421W WO 2019196269 A1 WO2019196269 A1 WO 2019196269A1
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WIPO (PCT)
Prior art keywords
suction cup
assembly
cup assembly
vending machine
double
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PCT/CN2018/098421
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English (en)
French (fr)
Inventor
蔡异
Original Assignee
珠海市利保机器人有限公司
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Publication of WO2019196269A1 publication Critical patent/WO2019196269A1/zh

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Classifications

    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16—Delivery means
    • G07F11/165—Delivery means using xyz-picker or multi-dimensional article picking arrangements
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16—Delivery means
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16—Delivery means
    • G07F11/165—Delivery means using xyz-picker or multi-dimensional article picking arrangements
    • G07F11/1657—Delivery means using xyz-picker or multi-dimensional article picking arrangements the picking arrangements using suction

Definitions

  • the invention belongs to the technical field of a vending machine pick-up mechanism, and particularly relates to a double-sucking tray pick-up mechanism of a vending machine.
  • Vending machines are the product of a shift from a labor-intensive industrial structure to a technology-intensive society. Mass production, mass consumption, and changes in consumption patterns and sales environments require new distribution channels. The relative circulation of new supermarkets, department stores, and other new distribution channels, labor costs are also rising; plus the limitations of the venue. As well as the convenience of shopping and other factors, vending machines have emerged as a necessary machine. The development of vending machines and the amount of social possession have become an important indicator of the degree of urban modernization and civilization.
  • the object of the present invention is to provide a double suction cup picking mechanism of a vending machine in order to solve the problem of the prior art that the vending machine picking mechanism has poor compatibility, and cannot be sold or pushed or put. Unstable goods, technical problems with complex structure and poor stability of the pick-up mechanism.
  • a double suction cup picking mechanism of a vending machine comprising a main structure body, a screw motor and a sliding component are arranged inside the main structure body, and the screw motor is connected with the sliding component through a screw nut, and the front end and the rear of the main structure body
  • the front end sensor and the rear end sensor are respectively disposed, the bottom of the sliding assembly is provided with a baffle, and the upper part of the sliding assembly is provided with a suction cup assembly connecting plate, and the upper suction cup assembly and the lower suction cup assembly are respectively disposed on the suction plate assembly connecting plate, and the top end of the main structure body
  • a pneumatic mounting seat is provided, and a left negative pressure sensor and a right negative pressure sensor are respectively disposed on the left and right sides of the pneumatic mounting seat, and the left upper connector, the upper right connector, the lower left connector and the lower right connector are respectively arranged on the upper and lower sides of the pneumatic mounting seat, and the upper left connector and the upper suction cup are respectively arranged.
  • the components are connected
  • the upper suction cup assembly and the lower suction cup assembly are each composed of a suction cup and a suction cup connecting rod, and the suction cup is mounted at the front end of the suction cup connecting rod.
  • the suction cup connecting rod is a buffered connecting rod.
  • the front end of the upper suction cup assembly is located on the same plane as the front end of the lower suction cup assembly.
  • the sliding assembly is composed of a slide rail and a slider, and the slider can linearly reciprocate along the slide rail.
  • the front end sensor and the rear end sensor are located on the same straight line, and the center line of the front end sensor and the rear end sensor is a motion track of the bottom block of the sliding assembly.
  • the suction cup assembly connecting plate is provided with a push plate mechanism.
  • the top of the main structure body is provided with a slot, and the suction cup assembly connecting plate is connected to the sliding assembly through the slot.
  • the upper left joint, the lower left joint and the left negative pressure sensor are in communication with each other.
  • the upper right joint, the lower right joint and the right negative pressure sensor are in communication with each other.
  • the invention has the beneficial effects that the vacuum suction cup is used for picking up the goods, there is no special requirement for the outer shape and size of the product, and the goods of different specifications and shapes can be grasped, and the compatibility is high;
  • the picking mechanism is provided with the upper suction cup assembly and the lower part a suction cup assembly, and each suction cup assembly is provided with a separate vacuum control system, each suction cup assembly can be separately picked up, and when the at least one suction cup assembly sucks the merchandise, the picking mechanism can firmly grasp the merchandise Therefore, the suction cup assembly has a high success rate of grasping the merchandise.
  • the upper suction cup assembly and the lower suction cup assembly are composed of a suction cup and a suction cup connecting rod, the suction cup is installed at the front end of the suction cup connecting rod, and the suction cup connecting rod is a buffer connecting rod, when the suction cup assembly and the product surface When they are in contact with each other, the impact of the suction cup assembly on the product can be effectively reduced, and the product can be effectively protected from damage.
  • the front end of the upper suction cup assembly and the front end of the lower suction cup assembly are located on the same plane, which can ensure that the upper suction cup assembly and the lower suction cup assembly can simultaneously contact the surface of the product, the success rate of picking up is greatly improved, and the reliability is good;
  • the suction cup assembly connection plate is provided with a push.
  • the plate mechanism can effectively solve the problem that the product falls off to the surface of the main structure and affects the shipment in the abnormal situation as the sliding assembly moves back and forth.
  • FIG. 1 is a schematic structural view of a double suction cup picking mechanism of a vending machine according to the present invention.
  • the reference numerals in the figure are as follows: 1-main structure body, 2-suction cup assembly connecting plate, 3-upper suction cup assembly, 4-low suction cup assembly, 5-suction cup, 6-suction cup connecting rod, 7-pneumatic mount, 8-left Negative pressure sensor, 9-right negative pressure sensor, 10-left upper connector, 11-right upper connector 11, 12-lower left connector, 13-right lower connector, 14-push plate mechanism, 15-slot.
  • FIG. 1 is a schematic structural view of a double suction cup picking mechanism of a vending machine according to the present invention, comprising a main structural body 1, a main shaft body 1 is provided with a screw motor and a sliding assembly, and the screw motor passes through the screw nut and the sliding assembly
  • the sliding assembly is composed of a sliding rail and a sliding block, and the sliding rod can linearly reciprocate along the sliding rail. The forward and reverse rotation of the screw motor through the screw nut causes the sliding assembly to reciprocate linearly back and forth.
  • the front end and the rear end of the main structure 1 are respectively provided with a front end sensor and a rear end sensor, and the bottom of the sliding assembly is provided with a flap, the front end sensor and the rear end sensor are located on the same straight line, and the center line of the front end sensor and the rear end sensor is
  • the movement path of the bottom block of the sliding assembly, the positive and negative rotation of the screw motor through the screw nut causes the sliding assembly to reciprocate linearly forward and backward.
  • the screw motor stops rotating forward;
  • the bottom stop of the slide assembly moves to the position of the rear sensor, the screw motor stops reverse.
  • the upper part of the sliding assembly is provided with a suction cup assembly connecting plate 2, and the upper suction cup assembly 3 and the lower suction cup assembly 4 are respectively disposed on the suction cup assembly connecting plate 2, and the upper suction cup assembly 3 and the lower suction cup assembly 4 are respectively connected by the suction cup 5 and the suction cup connecting rod 6.
  • the suction cup 5 is mounted on the front end of the suction cup connecting rod 6, and the suction cup connecting rod 6 is a buffer connecting rod.
  • the front end of the upper suction cup assembly 3 and the front end of the lower suction cup assembly 4 are on the same plane, which can ensure that the upper suction cup assembly 3 and the lower suction cup assembly 4 can simultaneously contact the surface of the product.
  • the success rate of picking up goods is greatly improved and the reliability is good.
  • the top end of the main structure body 1 is provided with a pneumatic mounting seat 7.
  • the left and right sides of the pneumatic mounting base 7 are respectively provided with a left negative pressure sensor 8 and a right negative pressure sensor 9, and the pneumatic mounting seat 7 is respectively provided with an upper left joint 10 and an upper right joint. 11.
  • the lower left joint 12 and the lower right joint 13, the left upper joint 10, the lower left joint 12 and the left negative pressure sensor 8 are in communication with each other, and the upper right joint 11, the lower right joint 13 and the right negative pressure sensor 9 are also in communication with each other, and the upper left joint 10 is connected to the upper suction cup assembly 3 through a gas pipe, the upper right joint 11 and the lower suction cup assembly 4 are connected by a gas pipe, and the left lower joint 12 and the lower right joint 13 are respectively connected to a vacuum pump through a gas pipe, and the upper suction cup assembly 3 and the lower suction cup assembly 4 are both A separate vacuum control system is provided, and the upper suction cup assembly 3 and the lower suction cup assembly 4 can be separately picked up.
  • the pick-up mechanism can grasp the goods securely, so the pick-up mechanism has a high success rate of grabbing the goods, and in addition, when the upper suction cup assembly 3 or the lower suction cup assembly 4 contacts and draws the quotient When, additionally contacted with a chuck assembly and also draw the product, the chuck assembly 3 and the lower chuck assembly 4 while suction of commodities, commodities crawling process more stable and reliable.
  • the suction cup assembly connecting plate 2 is provided with a pushing plate mechanism 14 .
  • the main structure body 1 is provided with a slot 15 at the top thereof.
  • the suction cup assembly connecting plate 2 is connected to the sliding assembly through the slot 15 and can move forward and backward with the sliding assembly. It is possible to effectively solve the problem that the product falls off the surface of the main structural body 1 under abnormal conditions and affects shipment.
  • the working principle of the invention when the goods are picked up, the screw motor rotates forward, and the power is transmitted to the sliding assembly through the screw nut, so that the slider moves linearly along the sliding rail, and the suction cup assembly connecting plate 2 also goes along The front linear motion, the bottom flap of the sliding assembly gradually approaches the front end sensor, the upper suction cup assembly 3 and the lower suction cup assembly 4 gradually approach the merchandise on the shelf, while the separate vacuum control system of the upper suction cup assembly 3 and the lower suction cup assembly 4 will Starting, when the bottom block of the sliding assembly moves to the front end sensor, the screw motor stops rotating.
  • the upper suction cup assembly 3 and the lower suction cup assembly 4 have protruded into the shelf to contact the goods on the shelf, and the upper suction cup assembly 3 and the lower suction cup assembly 4 are both composed of a suction cup 5 and a suction cup connecting rod 6, the suction cup 5 is mounted at the front end of the suction cup connecting rod 6, and the suction cup connecting rod 6 is a buffer connecting rod, when the upper suction cup assembly 3 or the lower suction cup assembly 4 When contacting the surface of the product, the impact of the upper suction cup assembly 3 or the lower suction cup assembly 4 on the product can be effectively reduced, and the product can be effectively protected from damage, and the front end of the upper suction cup assembly 3 is The front end of the lower suction cup assembly 4 is located on the same plane.
  • the pickup mechanism can firmly grasp the merchandise, so The pick-up mechanism has a high success rate of picking up the merchandise.
  • the upper sucker disc assembly 3 or the lower suction cup assembly 4 contacts and sucks the merchandise
  • another suction cup assembly also contacts and sucks the merchandise
  • the upper suction cup assembly 3 and The lower suction cup assembly 4 simultaneously sucks the merchandise, and the process of grabbing the merchandise is more stable and reliable.
  • the vacuum of the air tube in the vacuum system of the upper suction cup assembly 3 and the lower suction cup assembly 4 is gradually increased, and when the vacuum reaches a set value, the system issues The signal reverses the screw motor, so that the slider moves linearly along the slide rail, and the suction cup assembly connecting plate 2 also moves linearly backward, and the bottom block of the sliding assembly gradually approaches the rear end sensor, and the upper suction cup assembly 3 Simultaneously dragging the product with the lower suction cup assembly 4 to retreat, so that the product gradually leaves the shelf to reach the surface of the main structure body 1.
  • the screw motor stops rotating, and the pickup process ends. At this point the vacuum control system remains operational.
  • the screw motor When unloading, the screw motor rotates forward, and the power is transmitted to the sliding assembly through the screw nut, so that the slider moves linearly along the sliding rail, and the suction cup assembly connecting plate 2 also moves linearly forward, sliding the bottom of the assembly.
  • the shutter gradually approaches the front end sensor, and the upper suction cup assembly 3 and the lower suction cup assembly 4 simultaneously push the product forward, so that the product gradually moves away from the upper surface of the main structural body 1 toward the delivery port, and the vacuum control system is in operation.
  • the screw motor stops rotating, and at this time, the upper suction cup assembly 3 and the lower suction cup assembly 4 have pushed the product away from the upper surface of the main structural body 1 at the position of the delivery port.
  • the vacuum control system of the upper suction cup assembly 3 and the lower suction cup assembly 4 are stopped, the product will fall to the delivery port due to its own weight, and then the system will send a signal to reverse the screw motor, thereby making the slider Moving linearly along the slide rail, the suction cup assembly connecting plate 2 also moves linearly backward, and the bottom block of the sliding assembly gradually approaches the rear end sensor, and the upper suction cup The assembly 3 moves rearwardly with the lower suction cup assembly 4, and when the bottom member of the slide assembly moves to the rear end sensor, the screw motor stops rotating and the unloading process ends.
  • the manner of back and forth movement mentioned in the present invention can be realized by using a synchronous wheel timing belt, a rack and pinion, etc., in addition to the manner in which the screw nut and the screw motor are combined in the embodiment.
  • the invention adopts the method of double vacuum suction cup to pick up the goods, has no special requirements on the shape and size of the product, and can grasp goods of different specifications and shapes, has good compatibility, high stability and high reliability.

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Abstract

一种自动贩卖机的双吸盘取货机构，包括主结构体（1），主结构体（1）内部设置有丝杆电机和滑动组件，丝杆电机通过丝杆螺母与滑动组件相连接，主结构体（1）内部前端和后端分别设置有前端传感器和后端传感器，滑动组件底部设置挡片，滑动组件上部设置有吸盘组件连接板（2），吸盘组件连接板（2）上分别设置有上吸盘组件（3）和下吸盘组件（4），主结构体（1）顶部后端设置有气动安装座（7），气动安装座（7）左右两侧分别设置有左负压传感器（8）和右负压传感器（9），气动安装座（7）上下分别设置有左上接头（10）、右上接头（11）、左下接头（12）和右下接头（13），左上接头（10）与上吸盘组件（3）通过气管相连接，右上接头（11）与下吸盘组件（4）通过气管相连接，左下接头（12）和右下接头（13）分别通过气管与真空泵相连接。双吸盘取货机构能够抓取不同规格形状的商品，稳定性好，可靠性高，适用范围广。

Description

一种自动贩卖机的双吸盘取货机构
技术领域
本发明属于自动贩卖机取货机构的技术领域，具体涉及一种自动贩卖机的双吸盘取货机构。
背景技术
自动贩卖机是劳动密集型的产业构造向技术密集型社会转变的产物。大量生产、大量消费以及消费模式和销售环境的变化，要求出现新的流通渠道；而相对的超市、百货购物中心等新的流通渠道的产生，人工费用也不断上升；再加上场地的局限性以及购物的便利性等这些因素的制约，自动贩卖机作为一种必须的机器便应运而生了。自动贩卖机的发展和社会保有量已成为衡量城市现代化程度和文明水平的一个重要标志。
目前市面上出现的自动贩卖机大多数使用“圈圈+自由落体”或者“推板+升降机构”的方式进行取货，这两种方式均存在不足之处，首先，“圈圈+自由落体”的方式虽然简单，但是取货方式较为粗暴，对商品的兼容性差，只适合售卖塑料或者金属瓶装饮料之类，无法售卖易碎及不规则商品；再者，“推板+升降机构”的方式，相对于“圈圈+自由落体”的方式已有较大的改善，能够售卖易碎及不规则商品，但是对于不可推动的商品或者放不稳的商品，仍无法使用该取货机构进行售卖，另外，结构复杂，稳定性差，这就大大限制了自动贩卖机的应用范围，也使得运营商对商品的选择性大打折扣，不能满足运营商对商品种类多样化的需求。因而有必要针对自动贩卖机的取货机构做进一步的研究和改进。
发明内容
基于以上的问题，本发明的目的在于针对上述的不足，提供一种自动贩卖机的双吸盘取货机构，以期望解决现有技术中自动贩卖机取货机构兼容性差，不可售卖不可推动或者放不稳的商品，取货机构结构复杂以及稳定性差等的技术问题。
一种自动贩卖机的双吸盘取货机构，包括主结构体，主结构体内部设置有丝杆电机和滑动组件，丝杆电机通过丝杆螺母与滑动组件相连接，主结构体内部前端和后端分别设置有前端传感器和后端传感器，滑动组件底部设置挡片，滑动组件上部设置有吸盘组件连接板，吸盘组件连接板上分别设置有上吸盘组件和下吸盘组件，主结构体顶部后端设置有气动安装座，气动安装座左右两侧分别设置有左负压传感器和右负压传感器，气动安装座上下分别设置有左上接头、右上接头、左下接头和右下接头，左上接头与上吸盘组件通过气管相连接，右上接头与下吸盘组件通过气管相连接，左下接头和右下接头分别通过气管与真空泵相连接。
优选地，所述上吸盘组件与下吸盘组件均由吸盘和吸盘连接杆组成，吸盘安装在吸盘连接杆的前端。
优选地，所述吸盘连接杆为带有缓冲的连接杆。
优选地，所述上吸盘组件前端与下吸盘组件前端位于同一平面上。
优选地，所述滑动组件由滑轨和滑块组成，滑块可以沿着滑轨进行直线往复运动。
优选地，所述前端传感器和后端传感器位于同一直线上，且前端传感器和后端传感器的中心线为滑动组件底部挡片的运动轨迹。
优选地，所述吸盘组件连接板上设置有推板机构。
优选地，所述主结构体顶部开有槽孔，吸盘组件连接板穿过槽孔与滑动组件相连接。
优选地，所述左上接头、左下接头和左负压传感器是相互连通的。
优选地，所述右上接头、右下接头和右负压传感器是相互连通的。
本发明的有益效果：采用真空吸盘的方式进行取货，对商品的外形规格尺寸没有特殊的要求，能够抓取不同规格形状的商品，兼容性高；该取货机构设置有上吸盘组件与下吸盘组件，而且每个吸盘组件均设置有单独的真空控制系统，每个吸盘组件均可单独进行取货，当至少一个吸盘组件吸取到商品时，该取货机构即可牢固地抓取到商品，因此吸盘组件抓取商品的成功率高，另外，当一个吸盘组件接触并吸取到商品时，另外一个吸盘组件也会随着接触并吸取到商品，两个吸盘组件对商品进行吸取，抓取商品的过程更加稳定和可靠；上吸盘组件与下吸盘组件均由吸盘和吸盘连接杆组成，吸盘安装在吸盘连接杆的前端，吸盘连接杆为带有缓冲的连接杆，当吸盘组件与商品表面相互接触时，可以有效减少吸盘组件对商品的冲击，能够有效保护商品不受损坏；上吸盘组件前端与下吸盘组件前端位于同一平面上，可以保证上吸盘组件与下吸盘组件能够同时接触到商品表面，取货的成功率大大提高，可靠性好；吸盘组件连接板上设置有推板机构，可以随着滑动组件前后运动，能够有效地解决在异常情况下商品脱落到主结构体表面而影响出货的问题。
附图说明
图1为本发明一种自动贩卖机的双吸盘取货机构的结构示意图。
图中标号说明如下：1-主结构体，2-吸盘组件连接板，3-上吸盘组件，4-下吸盘组件，5-吸盘，6-吸盘连接杆，7-气动安装座，8-左负压传感器，9-右负压传感器，10-左上接头，11-右上接头11，12-左下接头，13-右下接头，14-推板机构，15-槽孔。
具体实施方式
下面结合附图并通过具体实施方式来进一步说明本发明的技术方案。
图1为本发明一种自动贩卖机的双吸盘取货机构的结构示意图，包括主结构体1，主结构体1内部设置有丝杆电机和滑动组件，丝杆电机通过丝杆螺母与滑动组件相连接，所述滑动组件由滑轨和滑块组成，滑块可以沿着滑轨进行直线往复运动，丝杆电机的正反转通过丝杆螺母使得滑动组件前后直线往复运动。主结构体1内部前端和后端分别设置有前端传感器和后端传感器，滑动组件底部设置挡片，所述前端传感器和后端传感器位于同一直线上，且前端传感器和后端传感器的中心线为滑动组件底部挡片的运动轨迹，丝杆电机的正反转通过丝杆螺母使得滑动组件前后直线往复运动，当滑动组件底部挡片运动至前端传感器所在位置时，丝杆电机停止正转；当滑动组件底部挡片运动至后端传感器所在位置时，丝杆电机停止反转。
滑动组件上部设置有吸盘组件连接板2，吸盘组件连接板2上分别设置有上吸盘组件3和下吸盘组件4，所述上吸盘组件3与下吸盘组件4均由吸盘5和吸盘连接杆6组成，吸盘5安装在吸盘连接杆6的前端，吸盘连接杆6为带有缓冲的连接杆，当上吸盘组件3或者下吸盘组件4与商品表面相互接触时，可以有效减少上吸盘组件3或者下吸盘组件4对商品的冲击，能够有效保护商品不受损坏，上吸盘组件3前端与下吸盘组件4前端位于同一平面上，可以保证上吸盘组件3与下吸盘组件4能够同时接触到商品表面，取货的成功率大大提高，可靠性好。
主结构体1顶部后端设置有气动安装座7，气动安装座7左右两侧分别设置有左负压传感器8和右负压传感器9，气动安装座7上下分别设置有左上接头10、右上接头11、左下接头12和右下接头13，左上接头10、左下接头12和左负压传感器8是相互连通的，右上接头11、右下接头13和右负压传感器9也是相互连通的，左上接头10与上吸盘组件3通过气管相连接，右上接头11与下吸盘组件4通过气管相连接，左下接头12和右下接头13分别通过气管与真空泵相连接，上吸盘组件3与下吸盘组件4均设置有单独的真空控制系统，上吸盘组件3与下吸盘组件4均可单独进行取货，当上吸盘组件3或者下吸盘组件4或者上吸盘组件3与下吸盘组件4同时吸取到商品时，该取货机构即可牢固地抓取商品，因此该取货机构抓取商品的成功率高，另外，当上吸盘组件3或者下吸盘组件4接触并吸取到商品时，另外一个吸盘组件也会随着接触并吸取到商品，上吸盘组件3与下吸盘组件4同时对商品进行吸取，抓取商品的过程更加平稳和可靠。
所述吸盘组件连接板2上设置有推板机构14，主结构体1顶部开有槽孔15，吸盘组件连接板2穿过槽孔15与滑动组件相连接，可以随着滑动组件前后运动，能够有效地解决在异常情况下商品脱落到主结构体1表面而影响出货的问题。
本发明的工作原理：取货时，丝杆电机正转，并通过丝杆螺母将动力传递给滑动组件，从而使得滑块沿着滑轨往前直线运动，吸盘组件连接板2也随着往前直线运动，滑动组件底部挡片逐渐靠近前端传感器，上吸盘组件3和下吸盘组件4逐渐向货架上的商品靠近，与此同时上吸盘组件3与下吸盘组件4单独的真空控制系统均会启动，当滑动组件底部挡片运动至前端传感器时，丝杆电机停止转动，此时，上吸盘组件3和下吸盘组件4已经伸入到货架中，与货架上的商品相接触，上吸盘组件3与下吸盘组件4均由吸盘5和吸盘连接杆6组成，吸盘5安装在吸盘连接杆6的前端，吸盘连接杆6为带有缓冲的连接杆，当上吸盘组件3或者下吸盘组件4与商品表面相互接触时，可以有效减少上吸盘组件3或者下吸盘组件4对商品的冲击，能够有效保护商品不受损坏，上吸盘组件3前端与下吸盘组件4前端位于同一平面上，当上吸盘组件3或者下吸盘组件4或者上吸盘组件3与下吸盘组件4同时吸取到商品时，该取货机构即可牢固地抓取到商品，因此该取货机构抓取商品的成功率高，另外，当上吸盘组件3或者下吸盘组件4接触并吸取到商品时，另外一个吸盘组件也会随着接触并吸取到商品，上吸盘组件3与下吸盘组件4同时对商品进行吸取，抓取商品的过程更加平稳和可靠。在上吸盘组件3与下吸盘组件4同时与商品接触的过程中，上吸盘组件3与下吸盘组件4的真空系统中气管的真空度逐渐增大，当真空度达到设定值时，系统发出信号让丝杆电机反转，从而使得滑块沿着滑轨往后直线运动，吸盘组件连接板2也随着往后直线运动，滑动组件底部挡片逐渐往后端传感器靠近，上吸盘组件3与下吸盘组件4同时拖动商品往后退，使得商品逐渐离开货架到达主结构体1的表面，当滑动组件底部挡片运动至后端传感器时，丝杆电机停止转动，取货过程至此结束，此时真空控制系统仍然保持运行的状态。
卸货时，丝杆电机正转，并通过丝杆螺母将动力传递给滑动组件，从而使得滑块沿着滑轨往前直线运动，吸盘组件连接板2也随着往前直线运动，滑动组件底部挡片逐渐靠近前端传感器，上吸盘组件3与下吸盘组件4同时推动商品往前运动，使得商品逐渐离开主结构体1的上表面向出货口方向移动，此时真空控制系统是处于运行的状态，当滑动组件底部挡片运动至前端传感器时，丝杆电机停止转动，此时上吸盘组件3与下吸盘组件4已经将商品推离主结构体1的上表面，处于出货口所在位置，与此同时，上吸盘组件3与下吸盘组件4单独的真空控制系统均停止工作，商品由于自重会掉落到出货口，然后系统会发出信号让丝杆电机反转，从而使得滑块沿着滑轨往后直线运动，吸盘组件连接板2也随着往后直线运动，滑动组件底部挡片逐渐往后端传感器靠近，上吸盘组件3与下吸盘组件4往后运动，当滑动组件底部挡片运动至后端传感器时，丝杆电机会停止转动，卸货过程结束。
本发明提及的前后运动的方式，除了本实施例中提到的丝杆螺母和丝杆电机结合的方式外，还可以使用同步轮同步带、齿轮齿条等方式来进行实现该功能。
本发明采用了双真空吸盘的方式进行取货，对商品的外形规格尺寸没有特殊的要求，能够抓取不同规格形状的商品，兼容性好，稳定性和可靠性高。
上面所述的实施例仅仅是对本发明的优选实施方式进行描述，并非对本发明的范围进行限定，在不脱离本发明设计精神的前提下，本领域普通工程技术人员对本发明的技术方案作出的各种变形和改进，均应落入本发明的权利要求书确定的保护范围内。

Claims (10)

  1. 一种自动贩卖机的双吸盘取货机构，其特征在于：包括主结构体，主结构体内部设置有丝杆电机和滑动组件，丝杆电机通过丝杆螺母与滑动组件相连接，主结构体内部前端和后端分别设置有前端传感器和后端传感器，滑动组件底部设置挡片，滑动组件上部设置有吸盘组件连接板，吸盘组件连接板上分别设置有上吸盘组件和下吸盘组件，主结构体顶部后端设置有气动安装座，气动安装座左右两侧分别设置有左负压传感器和右负压传感器，气动安装座上下分别设置有左上接头、右上接头、左下接头和右下接头，左上接头与上吸盘组件通过气管相连接，右上接头与下吸盘组件通过气管相连接，左下接头和右下接头分别通过气管与真空泵相连接。
  2. 如权利要求1所述的一种自动贩卖机的双吸盘取货机构，其特征在于：所述上吸盘组件与下吸盘组件均由吸盘和吸盘连接杆组成，吸盘安装在吸盘连接杆的前端。
  3. 如权利要求1和2所述的一种自动贩卖机的双吸盘取货机构，其特征在于：所述吸盘连接杆为带有缓冲的连接杆。
  4. 如权利要求1和2所述的一种自动贩卖机的双吸盘取货机构，其特征在于：所述上吸盘组件前端与下吸盘组件前端位于同一平面上。
  5. 如权利要求1所述的一种自动贩卖机的双吸盘取货机构，其特征在于：所述滑动组件由滑轨和滑块组成，滑块可以沿着滑轨进行直线往复运动。
  6. 如权利要求1所述的一种自动贩卖机的双吸盘取货机构，其特征在于：所述前端传感器和后端传感器位于同一直线上，且前端传感器和后端传感器的中心线为滑动组件底部挡片的运动轨迹。
  7. 如权利要求1所述的一种自动贩卖机的双吸盘取货机构，其特征在于：所述吸盘组件连接板上设置有推板机构。
  8. 如权利要求1所述的一种自动贩卖机的双吸盘取货机构，其特征在于：所述主结构体顶部开有槽孔，吸盘组件连接板穿过槽孔与滑动组件相连接。
  9. 如权利要求1所述的一种自动贩卖机的双吸盘取货机构，其特征在于：所述左上接头、左下接头和左负压传感器是相互连通的。
  10. 如权利要求1所述的一种自动贩卖机的双吸盘取货机构，其特征在于：所述右上接头、右下接头和右负压传感器是相互连通的。
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