WO2019201019A1 - 一种取货定位机构及售货机 - Google Patents

一种取货定位机构及售货机 Download PDF

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Publication number
WO2019201019A1
WO2019201019A1 PCT/CN2019/076335 CN2019076335W WO2019201019A1 WO 2019201019 A1 WO2019201019 A1 WO 2019201019A1 CN 2019076335 W CN2019076335 W CN 2019076335W WO 2019201019 A1 WO2019201019 A1 WO 2019201019A1
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WO
WIPO (PCT)
Prior art keywords
ferrous metal
positioning
metal positioning
picking
controller
Prior art date
Application number
PCT/CN2019/076335
Other languages
English (en)
French (fr)
Inventor
龚涛
卢飞勇
林义凯
Original Assignee
深圳邦马特科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201820615194.XU external-priority patent/CN208477647U/zh
Application filed by 深圳邦马特科技有限公司 filed Critical 深圳邦马特科技有限公司
Publication of WO2019201019A1 publication Critical patent/WO2019201019A1/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
    • 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

Definitions

  • the invention relates to the field of vending equipment, in particular to a picking and positioning mechanism and a vending machine.
  • the shelf specifications of the existing vending machines depend on the size of the space in the cabinet of the vending machine.
  • the picking device can be used for the horizontal axis and the vertical axis for picking up, it is necessary to accurately position the cargo path on the shelf body.
  • the size of each cargo lane of the shelf body is inconsistent.
  • the size of each cargo lane formed by the partition board and the shelf body of each vending machine is basically fixed, and the shelf body has several layers and How many cargo lanes are set for each floor, and the position information of each cargo lane has been programmed to the controller.
  • the technical problem to be solved by the present invention is that, in view of the deficiencies of the prior art, a pick-and-place positioning mechanism and a vending machine having flexible setting of cargo lane position information and accurately positioning the cargo lane position are provided.
  • a picking and positioning mechanism comprising a body, wherein the machine body is provided with a controller and a picking device, wherein the machine body is provided with a shelf body having one or several layers, and the shelf body is provided with a metal positioning label, and the taking
  • the cargo device is provided with a metal sensing device in communication with the controller, the metal sensing device for identifying the metal positioning tag and outputting a switching signal, the switching signal triggering the controller to set the metal positioning tag Position information, the controller controls positioning of the picking device according to the position information.
  • a vending machine comprising the picking and positioning mechanism described above.
  • the present invention adopts a shelf body to provide a metal positioning label, and a pick-up device that can move horizontally and vertically for picking up is provided with a metal sensing device that communicates with the controller; the metal sensing device is used to identify the metal. Positioning the tag and outputting the switch signal, the switch signal accurately triggers the controller to set the specific position information of the positioning tag and stores it; when triggering a stored position, the controller directly controls the pick-up device according to the position information of the metal positioning tag
  • the cargo lane running on the shelf body where the metal positioning label is located is subjected to the picking operation, and the picking time is short and the efficiency is high.
  • the number or area of the lanes or shelves can be increased or decreased by increasing or decreasing the metal positioning label, and a new positioning layout can be performed quickly and flexibly.
  • FIG. 1 is a schematic structural view of a pickup positioning mechanism of the present invention.
  • the present invention provides a pick-up positioning mechanism and a vending machine.
  • the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
  • a picking and positioning mechanism includes a body 1 , a bracket 3 , and a shelf body 5 having one or several layers; the picking device includes a picking tray 4 and a driving picking tray 4 for lateral and longitudinal movement.
  • a driving device for picking up the cargo is a vehicle body 2; the body 1 is provided with a shelf body 5, a vehicle body 2, a controller and a pick-up tray 4; the shelf body 5 includes a partitioning rod 7, a partitioning rod 7 and a shelf body 5 Forming a cargo accommodating space, that is, the space is commonly referred to as a cargo lane 8; at the same time, the shelf body 5 is a cargo lane 8 provided on each floor, that is, the cargo lane 8 is a part of the so-called shelf body 5.
  • the vehicle body 2 is driven by a drive motor and laterally moved along the track to achieve lateral operation; the pickup tray 4 is driven by the drive motor and runs longitudinally along the bracket 3, so that the pickup tray 4 can be moved laterally and longitudinally to the desired pickup
  • the drive motor includes a lateral drive motor and a longitudinal drive motor, and the lateral drive motor and the longitudinal drive motor are controlled by a controller.
  • the controller controls the lateral drive motor to drive the vehicle body 2 to operate, thereby driving the pick-up tray 4 to move laterally; the controller controls the longitudinal drive motor to drive the pick-up tray 4 to move longitudinally.
  • the limit position label is provided at two extreme positions of the left and right lateral ends of the shelf body 5 and the left and right extreme positions of the longitudinal top end, and the pick-up device is provided with a limit sensor matched with the limit positioning label, so that the vehicle can be limited
  • the horizontal and vertical running pick-up range of the body 2 is a square structure; at the same time, when a plurality of shelf bodies 5 are added for splicing, only a plurality of spliced shelf bodies 5 are required as a whole, and the overall lateral bottom end is left and right.
  • the extreme positions of the two ends are provided with limit positioning labels, and the limit positions of the two extreme ends of the longitudinal top end are provided with limit positioning labels, and the limit body of the vehicle body 2 is matched with the limit label, that is, the position sensor can be identified
  • the sensor for the extreme positioning tag may be a non-ferrous metal limit positioning label, and the limit sensor may be an inductive proximity switch, or a flap and a limit switch, etc., and may be appropriately set in the lateral and longitudinal limit positions of the entire shelf body 5 as the case may be.
  • the limit sensor is provided with a matching limit positioning label on the vehicle body 2, or the vehicle body 2 is provided with a partial limit positioning label and a limit sensor, and the lateral bottom end and the longitudinal top end of the entire shelf body 5 are provided with A part of the limit positioning label on the body 2 and a limit sensor and an limit positioning label that match the limit sensor.
  • the metal positioning label is a non-ferrous metal positioning label
  • the metal sensing device is an inductive proximity switch.
  • Inductive proximity switches are the principle of mutual inductance using metal conductors and alternating electromagnetic fields.
  • the detection coil located at the front end of the inductive proximity switch generates a high-frequency magnetic field.
  • an eddy current is generated inside the metal object, causing the magnetic field energy to decay.
  • the metal object is continuously close to the inductive proximity switch sensing surface, the energy is absorbed.
  • Attenuation when the attenuation reaches a certain level, triggers the inductive proximity switch output signal to achieve non-contact detection.
  • the shelf body 5 is provided with a color metal positioning label, and the non-ferrous metal positioning label is increased or decreased according to the number of the cargo lanes 8, and is flexibly added to the cargo lane 8 as a positioning; the non-ferrous metal positioning label can also be disposed on other parts of the shelf body 5. As long as the number of layers of the shelf body 5, the area of the cargo lane 8, the area enclosed by each shelf body 5, and their origins can be located.
  • a vending machine may have one or several shelf bodies 5 combined.
  • the pickup tray 4 is provided with an inductive proximity switch that communicates with the controller. When the inductive proximity switch recognizes the non-ferrous metal positioning tag on the shelf body 5, the switch signal is output, and the switch signal trigger controller sets the position information of the non-ferrous metal positioning tag.
  • the controller when the controller receives the switch signal, the position of the non-ferrous metal positioning label, that is, the position information is recorded. In this manner, the controller controls the positioning pick-up tray 4 to run to the cargo lane 8 corresponding to the non-ferrous metal positioning label according to the position information. Make accurate pickups.
  • the non-ferrous metal positioning label locates the number of layers of the cargo lane 8 or the shelf body 5 on the shelf body 5 or the area enclosed by each shelf body 5 and the origin of the shelf body, etc.
  • the proximity switch recognizes and triggers the controller to set position information and store it.
  • the setting is a position at which the controller records and stores the non-ferrous metal positioning tag, that is, position information, when the controller receives the switch signal.
  • the pick-up positioning mechanism of the present application is more convenient and quick to operate.
  • the storage module further includes location information of the ferrous metal positioning tag, and when the location information is stored, the controller controls the vehicle body 2 to drive the pickup tray 4 to operate, and the pickup tray 4 is performed. Position pick up.
  • the non-ferrous metal positioning label comprises a cargo road non-ferrous metal positioning label 6,
  • the inductive proximity switch comprises a first inductive proximity switch; the first inductive proximity switch is used for identifying the cargo road non-ferrous metal positioning label 6 and outputting a switching signal, the switch
  • the signal triggering controller sets the position information of the cargo road non-ferrous metal positioning label 6 and stores it, that is, the controller records the position of the cargo road non-ferrous metal positioning label 6, that is, the position information, and stores the position information.
  • the left-side or right-side cargo lane non-ferrous metal positioning label 6 is first identified one by one in the longitudinal direction, so that the system can identify the number of layers. And the height of each layer, and finally, the lateral recognition of each layer is carried out one by one, and the lateral bottom end and the longitudinal top end have limit positioning labels. Therefore, the entire shelf body 5 can position and store the position information of each cargo lane 8.
  • the controller controls the first inductive proximity switch, and the first inductive proximity switch first identifies the cargo lane 8 according to the leftmost or rightmost cargo lane non-ferrous metal positioning tag 6.
  • the shelf body is located in 5 layers, and then the first inductive proximity switch laterally identifies the cargo lane 8 positioned to the target cargo lane non-ferrous metal positioning label 6 , and then the controller controls the pickup tray 4 in the cargo lane non-ferrous metal positioning label 6
  • the cargo lane 8 where it is located carries out the picking operation. That is, after the controller according to the position information of the cargo road non-ferrous metal positioning label 6, the vehicle body 2 is directly controlled to drive the pick-up tray 4 to the cargo lane 8 on the shelf body 5 of the cargo road non-ferrous metal positioning label 6 for picking up. Operation, short pickup time and high efficiency.
  • each of the shelf bodies 5 is further provided with a layer of non-ferrous metal positioning label 9.
  • the layered non-ferrous metal positioning label 9 is on a straight line, preferably perpendicular to the lateral movement direction of the vehicle body 2; the first inductive proximity switch identifies the non-ferrous metal positioning label 9 and outputs a switching signal; the switching signal accurately triggers the controller to set
  • the specific location information of the layer of the non-ferrous metal positioning tag 9 is stored, that is, the controller records the position of the layer of the non-ferrous metal positioning tag 9, that is, the position information, and stores the position information.
  • the layer non-ferrous metal positioning label 9 and the cargo road non-ferrous metal positioning label 6 of the entire shelf body 5 it is necessary to identify the layer non-ferrous metal positioning label 9 first, and then color the cargo lanes of each layer.
  • the metal positioning label 6 is identified.
  • the positioning of the pickup tray 4 in the vertical direction can be realized by the layer non-ferrous metal positioning label 9, thereby positioning the specific number of layers of the target shelf body 5, and then positioning the label 6 through the cargo road non-ferrous metal.
  • the positioning of the pickup tray 4 in the lateral position is realized, thereby positioning the specific position of the target cargo lane 8.
  • the positioning of the goods on the shelf body 5 is achieved by two positioning positions arranged in the horizontal and vertical directions, thereby facilitating the picking up of the goods to be picked up by the picking tray 4.
  • the pick-and-place positioning mechanism specifically shows that when the customer triggers a stored position information, the controller first controls the first inductive proximity switch to recognize the number of layers of the cargo lane 8 according to the longitudinal layered non-ferrous metal positioning label 9. And controlling the first inductive proximity switch to laterally identify the cargo lane 8 positioned by the cargo road non-ferrous metal positioning label 6 and then controlling the position of the cargo lane 8 determined by the pick-up pallet 4 in the cargo lane non-ferrous metal positioning label 6. Carry out the picking operation, the picking time is short, and the efficiency is high.
  • the positioning method is simple and easy, the positioning device is easy to set, the overall working mode of the system realizes precise positioning, and the positioning system is simplified.
  • the number of layers of the shelf body 5 can be increased or decreased, and the corresponding layer non-ferrous metal positioning label 9 can be added or removed on the increasing or decreasing layer to perform positioning and positioning, and the first inductive proximity switch is used to identify and trigger the control one by one.
  • the device sets the position information and saves the position information of all the layers to achieve the purpose of arbitrarily and flexibly increasing or decreasing the number of layers of the shelf body 5.
  • the positional information formed by the combination of the layered non-ferrous metal positioning label 9 and the cargo road non-ferrous metal positioning label 6 is respectively the position of each layer on the shelf body 5 and the non-ferrous metal of the cargo road marked by the layer non-ferrous metal positioning label 9.
  • the specific position of each cargo lane 8 on the shelf body 5, which is calibrated by the positioning label 6, can locate which layer of the target cargo is in the shelf body and the first cargo lane in the layer; the layered non-ferrous metal positioning label 9 It can be installed at the first position on the leftmost side of each layer or the first position on the far right side.
  • the specific installation position of the layer non-ferrous metal positioning label 9 can be determined according to the situation.
  • each shelf body 5 is further provided with a regional non-ferrous metal positioning tag 10;
  • the picking device includes a driving device, that is, the driving device is the vehicle body 2;
  • the inductive proximity switch includes a second inductive proximity switch;
  • the vehicle body 2 is provided a second inductive proximity switch;
  • the second inductive proximity switch is configured to identify the regional non-ferrous metal positioning tag 10 and output a switching signal, and the switch signal triggers the position information of the non-ferrous metal positioning tag 10 in the controller setting area and stores, that is, the controller receives The position of the non-ferrous metal positioning tag 10 in the area, that is, the position information, is recorded to the switch signal, and the position information is stored.
  • one container may have one or several shelf bodies 5, so that the vending machine can arbitrarily increase or decrease the shelf body, and the regional non-ferrous metal positioning tag 10 can position each shelf body 5, therefore, the cargo lane 8 may be co-located by a region of the non-ferrous metal positioning label 10 that positions each shelf, a longitudinally positioned layer of non-ferrous metal positioning label 9 and a laterally positioned cargo lane non-ferrous metal positioning label 6.
  • Each of the area non-ferrous metal positioning tags 10 is positioned only one shelf body 5, and each shelf body 5 is provided with a regional non-ferrous metal positioning tag 10, each shelf body 5 has one or several layers, and each shelf body 5 has several items. Road 8.
  • the regional non-ferrous metal positioning tag 10 When the vending machine has one or several shelf bodies 5, the regional non-ferrous metal positioning tag 10 is required to position the position of each shelf body 5; on the other hand, in order to make the pickup positioning mechanism better adjust and position the number of the shelf bodies 5
  • the regional non-ferrous metal positioning tag 10 has the function of increasing or decreasing the number of the positioning shelf bodies 5. For example, when the shelf body 5 is added or removed, the corresponding area non-ferrous metal positioning tag 10 is only required to be added or removed on the increased or decreased shelf body 5.
  • the layout can be repositioned, and the regional non-ferrous metal positioning tag 10 is recognized one by one by the second inductive proximity switch, and the controller is set to set the position information and then re-store the position information of all the shelf bodies 5, and the shelf body 5 can be arbitrarily and flexibly increased or decreased.
  • the regional non-ferrous metal positioning label 10 is disposed at the lower end of the shelf body 5, which is lower than the layer of the non-ferrous metal positioning label 9 of the lowest layer of the shelf body 5, and may not be in the same line as all the layer non-ferrous metal positioning labels 9.
  • the first inductive proximity switch can be used to replace the second inductive proximity switch to identify the regional non-ferrous metal positioning tag 10 and output a switching signal, and the switching signal triggers the controller to perform position information of the set area non-ferrous metal positioning tag 10 and store it.
  • the regional non-ferrous metal positioning label 10 and the layer non-ferrous metal positioning label 9 are in a straight line, and the straight line may be vertical or other oblique lines.
  • the location information of the cargo lane 8 of the entire shelf body 5 is identified and stored, the location information of the regional non-ferrous metal positioning label 10, the layered non-ferrous metal positioning label 9 and the cargo lane non-ferrous metal positioning label 6 are identified and simultaneously stored. Labels so that the position information of each cargo lane 8 can be located.
  • the vehicle body 2 to laterally identify all the areas of the non-ferrous metal positioning label 10 at the lowermost end of the shelf body 5, identify how many shelf bodies 5, and then from the leftmost to the far right or the rightmost to the leftmost with each shelf body 5
  • the longitudinal layer non-ferrous metal positioning label 9 is first identified for the unit to realize the identification of the number of layers in the vertical direction of the shelf body 5, and finally the identification and positioning of the cargo lane 8 is realized by the cargo road non-ferrous metal positioning label 6 of each layer of the shelf body 5, At this time, the cargo lane 8 is set by the controller, and the location information of the regional non-ferrous metal positioning label 10, the layered non-ferrous metal positioning label 9 and the cargo road non-ferrous metal positioning label 6 are collectively realized by the controller.
  • the precise positioning of the cargo lane 8 facilitates the pick-up tray 4 to accurately pick up the goods for sale.
  • the pick-up positioning mechanism is embodied by the controller controlling the second inductive proximity switch when the customer triggers a stored location information, and the second inductive proximity switch identifies the shelf body 5 according to the regional non-ferrous metal positioning tag 10
  • the controller controls the first inductive proximity switch to identify the number of layers to which the cargo lane 8 is located according to the longitudinal layer of the non-ferrous metal positioning label 9, and finally controls the first inductive proximity switch to perform lateral identification one by one to find the non-ferrous metal positioning of the cargo lane.
  • the cargo lane 8 positioned by the label 6 finally controls the pick-up tray 4 to perform the picking operation on the cargo lane 8 on the shelf body 5 where the cargo road non-ferrous metal positioning label 6 is located. That is, the controller directly controls the vehicle body 2 to drive the pick-up tray 4 to the positioned shelf body according to the position information of the area non-ferrous metal positioning label 10, the layer non-ferrous metal positioning label 9 and the cargo road non-ferrous metal positioning label 6 of the cargo lane 8.
  • the cargo lane 8 on the 5 carries out the picking operation, and the picking time is short and the efficiency is high.
  • the increase or decrease of the shelf body 5 has no effect on positioning and picking up.
  • the shelf body 5 is further provided with an origin non-ferrous metal positioning tag 11
  • the inductive proximity switch comprises a third inductive proximity switch disposed on the vehicle body 2; and the third inductive proximity switch is used for identifying the origin non-ferrous metal positioning tag 11 and outputting a switch signal
  • the switch signal triggering controller sets the position information of the origin non-ferrous metal positioning tag 11, that is, the controller records the position of the origin non-ferrous metal positioning tag 11 when the controller receives the switch signal, that is, the position information, and stores the position.
  • the information, that is, the position information is the coordinates of the origin.
  • the origin non-ferrous metal positioning label is disposed at the bottom end of the shelf body 5, and may also be disposed at the lateral left and right extreme positions of the bottom end, or may be replaced by an extreme positioning label.
  • Each vending machine has an origin non-ferrous metal positioning label 11, that is, a vending machine composed of one container or several containers has only one origin non-ferrous metal positioning label 11.
  • the coordinates of each cargo lane 8 are set relative to the origin non-ferrous metal positioning label 11, and the coordinates are within the overall shelf body 5 or the limit positioning labels of the plurality of shelf bodies 5 after splicing.
  • the regional non-ferrous metal positioning tag 10 is used to distinguish the respective shelf bodies 5, and the regional non-ferrous metal positioning tags 10 allow the respective shelf bodies 5 to arbitrarily set the number of layers, because each of the regions of the non-ferrous metal positioning tags 10 corresponds to only the ones provided therein.
  • each shelf body 5 is used, that is, the first inductive proximity switch has each shelf body 5 as an independent area unit for each
  • a layer of non-ferrous metal positioning label 9 of a shelf body 5 is identified to finally identify the cargo lane non-ferrous metal positioning label 6. Therefore, the pickup positioning mechanism of the present application allows each shelf body 5 to arbitrarily set the number of layers.
  • the position of the origin non-ferrous metal positioning label 11 is taken as the origin coordinate, which is equivalent to the origin coordinate of the entire pickup positioning mechanism, the layer non-ferrous metal positioning label 9 is equivalent to the ordinate, the cargo road non-ferrous metal positioning label 6 is equivalent to the abscissa; the abscissa is The cargo lane non-ferrous metal positioning label 6, the ordinate is the layer non-ferrous metal positioning label 9, and the area location information of the non-ferrous metal positioning label 10 in the area where the cargo road non-ferrous metal positioning label 6 is located, that is, the specificity of the shelf body 5 The abscissa and the ordinate, the three jointly locate the position information of the cargo lane 8.
  • the controller determines the position of the shelf body 5 where the cargo lane 8 is located, and calculates the distance between the current position of the pickup tray 4 and the abscissa and the ordinate of the cargo lane 8, and then The vehicle body 2 is controlled to simultaneously drive the lateral drive and the longitudinal drive pickup tray 4 to the cargo lane 8 for picking up, the pickup time is short, and the efficiency is high.
  • the spacer rod 7 is fastened to the shelf body 5 according to different activities for accommodating the size of the cargo, and the positioning tag is matched with the cargo accommodating space, that is, the cargo lane 8 is calibrated by the locating label for specific position information.
  • the spacer rod 7 described above is fastened to the shelf body 5 according to different activities of accommodating the size of the cargo, that is, the partitioning rod 7 can be directly engaged with the shelf body 5 according to the size of the specific cargo lane 8, and the cargo lane 8 can be completed. Because the partition rod 7 can be engaged and buckled, the shelf body 5 of different layers can be set with different numbers of the spacer rods 7 as needed to form different numbers of cargo lanes 8, which are simple and convenient to set up.
  • the positioning label may be directly disposed on the shelf body 5, or the positioning label may be disposed on the fastening component, and the positioning label is movably fastened to the shelf body 5 by the fastening component. Therefore, when modifying the number of the cargo lanes 8, the fastening component provided with the positioning label is directly fastened to the shelf body 5.
  • the fastening component can be provided with a hook, and the shelf body 5 is provided with a bayonet, and the hook can directly The bayonet is directly fastened to the fixed connection.
  • the same layer of non-ferrous metal positioning label 9 can also be snap-fitted to the shelf body 5 by means of a fastening member.
  • the touch display screen for operating the purchase is provided, the touch display screen is disposed on the vending machine body 1; the touch display screen is communicatively connected with the controller, and the touch screen display storage module stores the non-ferrous metal positioning of all areas of the vending machine.
  • the goods for sale of the goods lane 8 are correspondingly mapped on the touch display screen for the customer to click on the purchase.
  • the location information that is triggered by the item is sent to the controller, and the controller searches for the location information to compare whether the authentication exists. If yes, the control picking tray 4 is controlled to run to the goods lane 8. Pick up the goods, if not, report the error.
  • the method further includes: a mobile terminal for operating the purchase, the mobile terminal is communicably connected to the controller through the server; the mobile terminal displays the storage module to store the location information of the non-ferrous metal positioning tag 10 of all the areas of the vending machine, and the position of the layered non-ferrous metal positioning tag 9
  • the information and the position information of the cargo road non-ferrous metal positioning label 6, that is, the position information of the shelf body 5, the cargo lane 8 and the layer, and the position information is mapped corresponding to the goods for sale of the cargo lane 8 on the 5th floor of the shelf body.
  • the mobile terminal wait for the customer to click on the purchase.
  • the location information mapped by the item is triggered, and the server sends the location information to the controller, and the controller searches for the location information to compare whether the authentication exists, and if so, controls the pickup tray 4 to run to the goods.
  • Road 8 picks up the goods, if not, it gives an error.
  • the first inductive proximity switch, the second inductive proximity switch, and the third inductive proximity switch may be other types of proximity switches;
  • the positioning label includes a region non-ferrous metal positioning label 10, and a layered non-ferrous metal positioning label 9 , the cargo road non-ferrous metal positioning label 6 and the origin non-ferrous metal positioning label 11,
  • the positioning label material may be iron, or copper, or aluminum, or stainless steel, or nickel, or solder, etc., according to the change of the inductive proximity switch adaptation.
  • the optimal recognition distance between the above positioning tag and the inductive proximity switch is 1mm-20mm, which can be determined according to the situation.
  • the switch signal triggering controller described above sets the position information of the non-ferrous metal positioning tag, and the specific implementation is that the controller controls the driving motor to drive the operation of the picking device and records the number of driving motor steps, when the controller receives the inductive proximity
  • the position of the non-ferrous metal positioning label that is, the number of horizontal steps and the number of vertical steps including the number of steps
  • the switch signal is turned on
  • the position of the non-ferrous metal positioning label that is, the number of horizontal steps and the number of vertical steps including the number of steps
  • the number of motor steps for driving the lateral movement and the longitudinal movement of the pickup device is recorded.
  • the number of steps referred to above is the distance.
  • the relative coordinate position information of the non-ferrous metal positioning tag 11 relative to the origin can be recorded more accurately, and finally the position information is stored to the storage module, and the storage module can be set in the background. Or on the cloud server or on the controller's hard drive.
  • the invention also relates to a vending machine comprising the picking and positioning mechanism described above.

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Abstract

一种取货定位机构及售货机，取货定位机构包括机体（1），机体（1）内设有控制器、取货装置和一层或若干层的货架体（5），货架体（5）内设置金属定位标签，取货装置设有与控制器通信的金属感应装置，金属感应装置用于识别金属定位标签并输出开关信号，开关信号触发控制器设定金属定位标签的位置信息，控制器根据位置信息控制并定位取货装置，能够增减货架体（5）的货道（8）或层数或每个货架体（5），且根据位置信息直接控制取货操作。

Description

一种取货定位机构及售货机 技术领域
本发明涉及售货设备领域，特别涉及一种取货定位机构及售货机。
 背景技术
现有的自动售货机的货架体规格依售货机的柜体内的空间大小而定，当采用取货装置可以横轴和纵轴运行进行取货时，需要精准的定位货架体上的货道位置才能取货成功，但依产品需要，货架体的各货道的尺寸不一致，在生产出厂时，各个售货机的隔物板与货架体形成的各货道尺寸基本已经固定，货架体多少层及每层货道多少个均已设定，各货道的位置信息已经编程给予控制器，因此，难于根据售货的货物类型进行调整售货机的货道；即使由于售卖货物的尺寸不同需要改变货道也需要重新编写算法更新控制器系统，因此，操作及其不便；由于货道是需要再次测量更改，则会造成设定的货道位置信息不精准，造成货道定位不精准。
 技术问题
本发明要解决的技术问题在于，针对现有技术的不足，提供一种具有灵活设定货道位置信息并精准定位货道位置的的取货定位机构及售货机。
 技术解决方案
为了解决上述技术问题，本发明所采用的技术方案如下：
一种取货定位机构，包括机体，所述机体内设有控制器和取货装置，所述机体内设置具有一层或若干层的货架体，所述货架体设置金属定位标签，所述取货装置设有与所述控制器通信的金属感应装置，所述金属感应装置用于识别所述金属定位标签并输出开关信号，所述开关信号触发所述控制器设定所述金属定位标签的位置信息，所述控制器根据所述位置信息控制定位所述取货装置。
一种售货机，包括以上所述取货定位机构。
 有益效果
有益效果：与现有技术相比，本发明采用货架体设置金属定位标签，可横向和纵向移动进行取货的取货装置设有与控制器通信的金属感应装置；金属感应装置用于识别金属定位标签并输出开关信号，开关信号精准触发控制器设定该定位标签的具体位置信息并存储；在触发某一已存储的位置时，控制器根据该金属定位标签的位置信息直接控制取货装置运行至该金属定位标签所在的货架体上的货道进行取货操作，取货时间短，效率高。另一方面，增减货道或货架体的层数或区域均可以通过增减金属定位标签来实现，能够迅速、灵活地进行新的定位布局。
 附图说明
图1是本发明的取货定位机构结构示意图。
 本发明的实施方式
本发明提供一种取货定位机构及售货机，为使本发明的目的、技术方案及效果更加清楚、明确，以下参照附图并举实施例对本发明进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
本技术领域技术人员可以理解，除非特意声明，这里使用的单数形式“一”、“一个”、“所述”和“该”也可包括复数形式。 应该进一步理解的是，本发明的说明书中使用的措辞“包括”是指存在所述特征、整数、步骤、操作、元件和/或组件，但是并不排除存在或添加一个或多个其他特征、整数、步骤、操作、元件、组件和/或它们的组合。 应该理解，当我们称元件被“连接”或“耦接”到另一元件时，它可以直接连接或耦接到其他元件，或者也可以存在中间元件。此外，这里使用的“连接”或“耦接”可以包括无线连接或无线耦接。这里使用的措辞“和/或”包括一个或更多个相关联的列出项的全部或任一单元和全部组合。
本技术领域技术人员可以理解，除非另外定义，这里使用的所有术语(包括技术术语和科学术语)，具有与本发明所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语，应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样被特定定义，否则不会用理想化或过于正式的含义来解释。
下面结合附图，通过对实施例的描述，对发明内容作进一步说明。
请参考图1，一种取货定位机构，包括机体1，支架3，具有一层或者若干层的货架体5；取货装置包括取货托盘4和驱动取货托盘4可横向和纵向移动进行取货的驱动装置；驱动装置为车体2；机体1内设置有货架体5、车体2、控制器和取货托盘4；货架体5包括隔物杆7，隔物杆7与货架体5形成货物容置空间，即该空间俗称货道8；同时还可以是，货架体5是包含每一层上设有的货道8，即货道8是所称的货架体5的一部分。车体2由驱动电机驱动并沿着轨道横向移动，实现横向运行；取货托盘4由驱动电机驱动并沿支架3纵向运行，因此该取货托盘4可以横向和纵向运行至所需取货的货道8；驱动电机包括横向驱动电机和纵向驱动电机，横向驱动电机和纵向驱动电机均由控制器进行控制。控制器控制横向驱动电机驱动车体2运行，从而驱动取货托盘4横向运动；控制器控制纵向驱动电机驱动取货托盘4纵向运动。货架体5的横向底端左右的两个极限位置和纵向顶端的左右两个极限位置均设有极限定位标签，取货装置设有与极限定位标签相匹配的限位传感器，因此，可以限定车体2的横向和纵向的运行取货范围为四方结构；同时，在增加若干个货架体5进行拼接时，只需要将拼接后的若干货架体5作为一个整体，在其整体的横向底端左右两端的两个极限位置设有极限定位标签，纵向顶端的左右两端的两个极限位置设有极限定位标签，以及车体2上设置有与限位标签相匹配的限位传感器，即可以识别该极限定位标签的传感器。极限定位标签可以是有色金属极限定位标签，以及限位传感器可以为电感式接近开关，或者挡片与限位开关等等，根据具体情况可以适当在整个货架体5的横向和纵向的极限位置设置限位传感器，而在车体2上设有相匹配的极限定位标签，再或者就是车体2设有部分极限定位标签和限位传感器，整个货架体5的横向底端和纵向顶端设有与车体2上的部分极限定位标签和限位传感器相匹配的部分限位传感器和极限定位标签。
本实施例中优选的，金属定位标签为有色金属定位标签，金属感应装置为电感式接近开关。电感式接近开关是利用金属导体和交变电磁场的互感原理。位于电感式接近开关前端的检测线圈产生高频磁场，当金属物体接近该磁场，金属物体内部产生涡电流，导致磁场能量衰减，当金属物体不断靠近电感式接近开关感应面，能量被吸收而导致衰减，当衰减达到一定程度时，触发电感式接近开关输出信号，从而达到非接触式检测目的。货架体5上设置有色金属定位标签，有色金属定位标签均根据货道8的数量增减，灵活增设在货道8上并作为定位；有色金属定位标签也可设置在货架体5的其他地方上，只要能定位货架体5的层数、货道8的区域、每个货架体5围成的区域以及它们的原点即可。一台售货机中可以有一个或数个货架体5组合而成。取货托盘4设有与控制器通信的电感式接近开关，电感式接近开关识别货架体5上的有色金属定位标签时就输出开关信号，开关信号触发控制器设定有色金属定位标签的位置信息，即控制器收到开关信号就记录该有色金属定位标签的位置，即位置信息，以此方式，控制器根据位置信息控制定位取货托盘4运行至该有色金属定位标签所对应的货道8进行精准取货。同时，依需要，该有色金属定位标签定位货架体5上的货道8或者货架体5的层数或者每个货架体5围成的区域以及货架体的原点等需要定位的位置，只需电感式接近开关识别并触发控制器进行设定位置信息并存储即可，该设定是控制器收到开关信号就记录和存储该有色金属定位标签的位置，即位置信息。因此，按照上述方式，只要在增减货道8或货架体的层数或每个货架体围成的区域时，增减相应的有色金属定位标签，并通过电感式接近开关逐一识别并触发控制器设定位置信息并保存所有货道8或所有层数或所有区域的位置信息，这样就能迅速地、灵活地进行重新定位布局，达到任意增减货架体5的货道8或货架体5的层数或每个货架体5的效。相对于以往需要重新拆出货架体，并重新进行位置编程的方式，本申请的取货定位机构操作起来更加方便和快捷。
具体的，还包括存储模块；存储模块存储有色金属定位标签的位置信息，用于在调取存储的位置信息时，控制器控制车体2驱动取货托盘4运行，并使取货托盘4进行定位取货。
具体的，有色金属定位标签包括货道有色金属定位标签6，电感式接近开关包括第一电感式接近开关；第一电感式接近开关用于识别货道有色金属定位标签6并输出开关信号，开关信号触发控制器设定货道有色金属定位标签6的位置信息并存储，即控制器收到开关信号就记录该货道有色金属定位标签6的位置，即位置信息，存储该位置信息。在对整个货架的货道有色金属定位标签6的位置信息进行识别存储时，先纵向逐个识别货架体5在最左侧或者最右侧的货道有色金属定位标签6，这样系统可识别多少层及每一层的高度，最后再进行各层的横向逐个识别，横向底端和纵向顶端均有极限定位标签，因此，整个货架体5就可以定位各个货道8的位置信息并存储。在触发某一已存储的位置信息时，控制器控制第一电感式接近开关，第一电感式接近开关先根据最左侧或者最右侧的货道有色金属定位标签6识别到该货道8所在的货架体5层数，然后第一电感式接近开关横向逐个识别找到目标货道有色金属定位标签6定位的货道8，接着控制器控制取货托盘4在该货道有色金属定位标签6所在的的货道8进行取货操作。即控制器根据该货道有色金属定位标签6的位置信息后，直接控制车体2驱动取货托盘4运行至该货道有色金属定位标签6所定位货架体5上的货道8进行取货操作，取货时间短，效率高。
进一步的，货架体5每层还设有层有色金属定位标签9。层有色金属定位标签9在一条直线上，最佳为垂直于车体2横向移动方向；第一电感式接近开关识别层有色金属定位标签9并输出开关信号；开关信号精准触发控制器进行设定该层有色金属定位标签9的具体位置信息并存储，即控制器收到开关信号就记录该层有色金属定位标签9的位置，即位置信息，存储该位置信息。在对整个货架体5的层有色金属定位标签9和货道有色金属定位标签6的位置信息进行识别存储时，需要先对层有色金属定位标签9进行识别，再对每一层的货道有色金属定位标签6进行识别，以此方式可以通过层有色金属定位标签9实现取货托盘4在竖直方向的定位，进而定位目标货架体5的具体层数，然后通过货道有色金属定位标签6实现对取货托盘4在横向位置的定位，进而定位目标货道8的具体位置。通过两种设于横向和纵向的位置定位配合，共同实现对货物在该货架体5上的精确定位，从而便于取货托盘4对售卖的货物进行准确取货。取货定位机构具体表现为，客户在触发某一已存储的位置信息时，控制器先控制第一电感式接近开关根据纵向的层有色金属定位标签9识别到该货道8所在的层数后，再控制第一电感式接近开关进行横向逐个识别找到货道有色金属定位标签6定位的货道8，然后控制取货托盘4在该货道有色金属定位标签6所确定的货道8的位置进行取货操作，取货时间短，效率高。这种定位方式简单易行，定位装置易于设置，系统整体的工作方式即实现了精确定位，又实现了定位系统的简单化。依需求，可增减货架体5的层数，只需在增减的层上增减相应的层有色金属定位标签9即可进行定位布局，并通过第一电感式接近开关逐一识别并触发控制器进行设定位置信息并保存所有层数的位置信息，达到任意并灵活增减货架体5的层数的目的。
本实施例中，由层有色金属定位标签9和货道有色金属定位标签6结合形成的位置信息分别为层有色金属定位标签9所标定的该货架体5上的每层位置和货道有色金属定位标签6所标定的该货架体5上的每个货道8的具体位置，即可以定位目标货物在货架体的哪一层和在该层的第几个货道；层有色金属定位标签9可以安装在每一层的最左侧的第一个位置或者在最右侧的第一个位置，当然其他实施方式中可以依情况确定层有色金属定位标签9的具体安装位置。
进一步的，每个货架体5还设有区域有色金属定位标签10；取货装置包括驱动装置，即驱动装置为车体2；电感式接近开关包括第二电感式接近开关；车体2设有第二电感式接近开关；第二电感式接近开关用于识别区域有色金属定位标签10并输出开关信号，开关信号触发控制器设定区域有色金属定位标签10的位置信息并存储，即控制器收到开关信号就记录该区域有色金属定位标签10的位置，即位置信息，存储该位置信息。
在售货机中，一个货柜可有一个或者数个货架体5，因此，售货机可以任意增加或减少货架体，而区域有色金属定位标签10可以定位每一个货架体5的位置，因此，货道8可以由定位各个货架的区域有色金属定位标签10、纵向定位的层有色金属定位标签9和横向定位的货道有色金属定位标签6共同定位。每一个区域有色金属定位标签10只定位一个货架体5，每一个货架体5均设有区域有色金属定位标签10，每个货架体5有一层或数层，每层货架体5具有数个货道8。在售货机有一个或者数个货架体5时，需要区域有色金属定位标签10定位每一个货架体5的位置；另一方面，为了使取货定位机构更好地调整和定位货架体5的数量，区域有色金属定位标签10具有增加或减少定位货架体5的数量的功能，如当增减货架体5时，只需在增减的货架体5上增减相应的区域有色金属定位标签10即可重新定位布局，并通过第二电感式接近开关逐一识别区域有色金属定位标签10，并触发控制器设定位置信息然后重新存储所有货架体5的位置信息，达到任意并灵活增减货架体5的数目的目的。。本实施例中，区域有色金属定位标签10设于货架体5的下端，比货架体5最低的一层的层有色金属定位标签9低，可以与所有的层有色金属定位标签9不在同一直线上；或者可以使用第一电感式接近开关代替第二电感式接近开关进行识别区域有色金属定位标签10并输出开关信号，开关信号触发控制器进行设定区域有色金属定位标签10的位置信息并存储，这时区域有色金属定位标签10与层有色金属定位标签9在一条直线上，该直线可以是垂直的，也可以是其他斜线。
在对整个货架体5的货道8的位置信息进行识别存储时，即对区域有色金属定位标签10、层有色金属定位标签9和货道有色金属定位标签6的位置信息进行识别并同时存储三个标签，从而可以定位每一个货道8的位置信息。这就需要车体2在货架体5的最下端先横向识别所有区域有色金属定位标签10，识别有多少个货架体5，然后从最左到最右或最右到最左以各个货架体5为单位先进行纵向层有色金属定位标签9进行识别，实现对货架体5垂直方向的层数的识别，最后通过货架体5每层的货道有色金属定位标签6实现货道8的识别定位，此时该货道8由控制器设定其具体的位置信息，即区域有色金属定位标签10、层有色金属定位标签9和货道有色金属定位标签6共同定位的位置信息，三者共同实现对货道8的精确定位，从而便于取货托盘4对售卖的货物进行准确取货。取货定位机构具体表现为，客户在触发某一已存储的位置信息时，控制器控制第二电感式接近开关，第二电感式接近开关根据区域有色金属定位标签10识别到该货架体5后，控制器再控制第一电感式接近开关根据纵向的层有色金属定位标签9进行识别到该货道8所在的层数，最后控制第一电感式接近开关进行横向逐个识别找到货道有色金属定位标签6定位的货道8，最后控制取货托盘4在该货道有色金属定位标签6所在的货架体5上的货道8进行取货操作。即控制器根据该货道8的区域有色金属定位标签10、层有色金属定位标签9和货道有色金属定位标签6的位置信息，直接控制车体2驱动取货托盘4运行至所定位货架体5上的货道8进行取货操作，取货时间短，效率高。增减货架体5均无影响定位取货。
进一步的，货架体5还设有原点有色金属定位标签11，电感式接近开关包括设置在车体2上的第三电感式接近开关；第三电感式接近开关用于识别的原点有色金属定位标签11并输出开关信号，开关信号触发控制器设定原点有色金属定位标签11的位置信息，即控制器收到开关信号就记录该原点有色金属定位标签11的位置，即位置信息，同时存储该位置信息，即位置信息为原点的坐标。本实施例中，原点有色金属定位标签设于该货架体5的底端，也可以设置于底端的横向左右极限位置，也可以用极限定位标签来代替。每个售货机存在一个原点有色金属定位标签11，即一个货柜或者数个货柜组成的售货机就只存在一个原点有色金属定位标签11。
在对整个货架体5的货道8的位置信息进行识别存储时，车体2上的第三电感式接近开关和第二电感式接近开关、取货托盘4上的第一电感式接近开关，先进行识别原点有色金属定位标签11，再对区域有色金属定位标签10、层有色金属定位标签9和货道有色金属定位标签6的位置信息进行识别，并同时存储该三个标签定位每一个货道8的坐标位置信息。每一个货道8的坐标都是相对于原点有色金属定位标签11设定，且该坐标在整体货架体5或拼接后若干个货架体5的极限定位标签之内。区域有色金属定位标签10用于区分各个货架体5，区域有色金属定位标签10允许各个货架体5可以任意设定层数，这是因为每一个区域有色金属定位标签10只对应其所设在的货架体5的位置信息。在对层有色金属定位标签9和货道有色金属定位标签6进行识别时，是以每一个货架体5为单位，即第一电感式接近开关以每个货架体5为一个独立区域单位对每一个货架体5的层有色金属定位标签9进行识别，最终识别货道有色金属定位标签6。因此，本申请的取货定位机构允许各个货架体5可以任意设定层数。
以原点有色金属定位标签11的位置为原点坐标，相当于整个取货定位机构的原点坐标，层有色金属定位标签9相当于纵坐标，货道有色金属定位标签6相当于横坐标；横坐标为货道有色金属定位标签6，纵坐标为层有色金属定位标签9，以及还加上该货道有色金属定位标签6所在的区域有色金属定位标签10的区域位置信息，也就是货架体5的具体的横坐标和纵坐标，三者共同定位该货道8的位置信息。因此，在触发某一已存储的位置信息时，控制器确定该货道8所在的货架体5的位置，计算取货托盘4当前位置与该货道8的横坐标和纵坐标的距离，然后控制车体2同时横向驱动和纵向驱动取货托盘4运行至该货道8进行取货，取货时间短，效率高。
进一步的，隔物杆7根据容纳货物尺寸的不同活动扣合在货架体5上，定位标签与货物容置空间相匹配，即货道8由该定位标签进行标定具体的位置信息。以上阐述的隔物杆7根据容纳货物尺寸的不同活动扣合在货架体5上，即该隔物杆7能依具体货道8的尺寸直接与货架体5扣合即可完成货道8的搭建，由于隔物杆7能活动扣合，既在不同的层数的货架体5可以根据需要设置不同数量的隔物杆7，形成不同数量的货道8，设置简单方便。
进一步的，定位标签可直接设置于货架体5上，也可以将定位标签设于扣合件上，定位标签通过扣合件活动扣合于货架体5。因此在修改货道8数量时，直接将设置有定位标签的扣合件扣合于货架体5上，扣合件可以设置有卡钩，货架体5上设置有卡口，卡钩可以直接与卡口直接扣合固定连接。同样层有色金属定位标签9也可采用扣合件与货架体5扣合连接。
进一步的，还包括用于操作购买的触摸显示屏，触摸显示屏设置于售货机机体1上；触摸显示屏与控制器通信连接，触摸显示屏显示存储模块存储该售货机的所有区域有色金属定位标签10的位置信息、层有色金属定位标签9的位置信息和货道有色金属定位标签6的位置信息，即货架体5、货道8和层的位置信息，且位置信息与货架体5层上的货道8的待售商品相对应映射显示于触摸显示屏上，以待客户点击购买。客户在点击购买某件商品时，触发该商品所映射的位置信息发送给控制器，控制器进行查找该位置信息对比认证是否存在，若存在，则控制取货托盘4运行至该货道8进行取货，若不存在，就进行报错。
进一步的，还包括用于操作购买的移动终端，移动终端通过服务器与控制器通信连接；移动终端显示存储模块存储该售货机的所有区域有色金属定位标签10位置信息、层有色金属定位标签9位置信息和货道有色金属定位标签6的位置信息，即货架体5、货道8和层相结合的位置信息，且位置信息与货架体5层上的货道8的待售商品相对应映射显示于移动终端上，以待客户点击购买。客户在点击购买某件商品时，触发该商品所映射的位置信息，由服务器发送给控制器，控制器进行查找该位置信息对比认证是否存在，若存在，则控制取货托盘4运行至该货道8进行取货，若不存在，就进行报错。
本实施例中，第一电感式接近开关、第二电感式接近开关、第三电感式接近开关均可以为其他种类接近开关；定位标签包括的区域有色金属定位标签10、层有色金属定位标签9、货道有色金属定位标签6和原点有色金属定位标签11，定位标签的材料可为铁、或铜、或铝、或不锈钢、或镍、或焊锡等，依电感式接近开关的改变与之相适配。以上定位标签与电感式接近开关之间的最佳识别距离为1㎜-20㎜，可以依情况而定。
以上所述的开关信号触发控制器设定有色金属定位标签的位置信息，具体实现为，控制器控制驱动电机进行驱动取货装置的运行并记录驱动电机步数，当控制器接收到电感式接近开关的开关信号时，就立即记录该有色金属定位标签的位置，即包括步数的横向步数和纵向步数，成为位置信息。通俗讲是记录驱动取货装置横向移动和纵向移动的电机步数，以上称的步数就是距离。在以原点有色金属定位标签11作为参照时，就能更加精确地记录相对该原点有色金属定位标签11的相对坐标位置信息，最后将上述位置信息进行存储至存储模块，该存储模块可以设置在后台或者在云服务器或者在控制器的硬盘。
发明还涉及一种售货机，包括以上所述取货定位机构。
以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (10)

  1. 一种取货定位机构，包括机体，所述机体内设有控制器和取货装置，所述机体内还设置具有一层或若干层的货架体，其特征在于，所述货架体设置金属定位标签，所述取货装置设有与所述控制器通信的金属感应装置，所述金属感应装置用于识别所述金属定位标签并输出开关信号，所述开关信号用于触发所述控制器设定所述金属定位标签的位置信息，所述控制器用于根据所述位置信息控制并定位所述取货装置。
  2. 根据权利要求1所述取货定位机构，其特征在于，所述金属定位标签为有色金属定位标签，所述金属感应装置为电感式接近开关。
  3. 根据权利要求2所述取货定位机构，其特征在于，还包括存储模块，所述存储模块用于存储所述有色金属定位标签的位置信息，并用于在调取存储的所述位置信息时，所述控制器控制所述取货装置进行定位取货。
  4. 根据权利要求2所述取货定位机构，其特征在于，所述有色金属定位标签包括货道有色金属定位标签，所述电感式接近开关包括第一电感式接近开关；所述第一电感式接近开关可用于识别所述货道有色金属定位标签并输出开关信号，所述开关信号用于触发所述控制器设定所述货道有色金属定位标签的位置信息。
  5. 根据权利要求4所述取货定位机构，其特征在于，所述有色金属定位标签还包括层有色金属定位标签，所述货架体每层均设有所述层有色金属定位标签；所述第一电感式接近开关可用于识别所述层有色金属定位标签并输出开关信号，所述开关信号用于触发所述控制器设定所述层有色金属定位标签的位置信息。
  6. 根据权利要求2所述取货定位机构，其特征在于，所述有色金属定位标签还包括区域有色金属定位标签，每个所述货架体均设有区域有色金属定位标签；所述电感式接近开关包括第二电感式接近开关；所述取货装置包括驱动装置，所述驱动装置设有第二电感式接近开关，所述第二电感式接近开关用于识别所述区域有色金属定位标签并输出开关信号，所述开关信号用于触发所述控制器设定所述区域有色金属定位标签的位置信息。
  7. 根据权利要求6所述取货定位机构，其特征在于，所述有色金属定位标签还包括原点有色金属定位标签，所述电感式接近开关还包括第三电感式接近开关；所述驱动装置设有第三电感式接近开关，所述第三电感式接近开关用于识别所述原点有色金属定位标签并输出开关信号，所述开关信号用于触发所述控制器设定所述原点有色金属定位标签的位置信息。
  8. 根据权利要求1-6任一项所述取货定位机构，其特征在于，所述货架体的横向底端的两个极限位置和纵向顶端的两个极限位置均设有极限定位标签，所述取货装置设有与所述极限定位标签相匹配的限位传感器。
  9. 根据权利要求3所述取货定位机构，其特征在于，还包括用于操作购买的触摸显示屏，触摸显示屏设置于所述机体上，所述触摸显示屏与所述控制器通信连接，用于显示所述存储模块存储的所述位置信息，所述位置信息与所述触摸显示屏上显示的待售商品相对应。
  10. 一种售货机，其特征在于，包括如权利要求1-9任一项所述取货定位机构。
PCT/CN2019/076335 2018-04-16 2019-02-27 一种取货定位机构及售货机 WO2019201019A1 (zh)

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