CN110232771A - A kind of self-service device and method - Google Patents

Abstract

The invention relates to the technical field of automatic vending, and discloses an unmanned vending device and method, wherein the unmanned vending device includes: a cabinet body; a movement module, a grabbing mechanism and a delivery mechanism are arranged in the cabinet, and the movement module It is connected with the grabbing mechanism and is used to drive the grabbing mechanism to move in the cabinet. The grabbing mechanism is used to grab the target goods from the rear side of the cabinet to the front and place them on the delivery mechanism. The cabinet is delivering goods One end of the mechanism is provided with a pick-up port. In the unmanned vending device and method provided by the present invention, setting the motion module can facilitate the movement of the grasping mechanism in the cabinet, and facilitate the movement of the grasping mechanism to the target goods and the delivery mechanism; setting the grasping mechanism can effectively Grab the target goods firmly, and deliver the target goods to the delivery mechanism smoothly, which can ensure the stability of the goods during the delivery process and avoid damage to the goods.

Description

An unmanned vending device and method

technical field

The invention relates to the technical field of automatic vending, in particular to an unmanned vending device and method.

Background technique

With the advent of the unmanned era, many "unmanned" intelligent industries have emerged, such as unmanned restaurants, unmanned factories, unmanned driving, unmanned transportation, etc., which completely refresh people's understanding of the intelligent industry. Know. Unmanned convenience stores (retail) are favored by more and more companies and consumers because they meet the needs of consumers in pursuit of convenience. Compared with traditional retail, it reduces the floor space and personnel costs; it can collect and analyze consumer behavior data, which facilitates precise marketing, thereby reducing inventory requirements and making it truly small and beautiful. , Improve consumers' shopping experience and shorten time cost.

In the existing vending machines, during the vending process of commodities, usually by structurally adjusting the drawers on the shelves, the commodities are dropped from the shelves onto the conveying device to realize extraction of the commodities. In this way, it is feasible for ordinary commodities, because there is no need to consider the risk of damage to the goods. However, for commodities with relatively high transportation requirements such as electronic consumer goods, the existing commodity extraction methods are obviously inoperable, and it is easy to increase the probability of damage to the commodities.

Therefore, considering the safety of goods and the precise pick-and-place of goods, there is an urgent need for a vending machine device that can take and place goods freely and can effectively avoid damage to goods during the extraction process.

Contents of the invention

(1) Technical problems to be solved

The purpose of the present invention is to provide an unmanned vending device and method, which are used to solve or partially solve the problem that the existing vending machines are prone to increase the probability of damage to goods.

(2) Technical solution

In order to solve the above technical problems, according to the first aspect of the present invention, an unmanned vending device is provided, including: a cabinet; a motion module, a grabbing mechanism and a delivery mechanism are arranged in the cabinet, and the motion module It is connected with the grabbing mechanism and is used to drive the grabbing mechanism to move in the cabinet, and the grabbing mechanism is used to grab the target goods sequentially from the back side of the cabinet body to the front side and place them on the delivery Mechanismally, the cabinet is provided with a pick-up port at one end of the delivery mechanism.

On the basis of the above solution, the cabinet is provided with cargo racks, and the cargo racks include a plurality of cargo lanes distributed along the direction from the front side to the rear side of the cabinet body, and a plurality of cargo lanes form multiple layers and rows Structure; the width of different cargo lanes is the same or different, and the height of different cargo lanes is the same or different.

On the basis of the above solution, the motion module at least includes a first moving shaft arranged along the width direction of the cargo rack and a second moving shaft arranged along the height direction of the cargo rack, the first moving shaft and the second moving shaft The shaft is used to drive the grabbing mechanism to move along the width direction and the height direction of the cargo rack; the grabbing mechanism includes a suction cup or a manipulator.

On the basis of the above solution, the grabbing mechanism also includes a support plate and a pushing mechanism; the suction cup is arranged on the support plate, one end of the support plate is connected with the movement module, and the support plate moves When reaching the rear side of the cargo rack, the other end is connected to the rear end of the cargo lane, and the rear end of the suction cup is connected to the pushing mechanism, and the pushing mechanism is used to push the suction cup to move along the cargo lane .

On the basis of the above solution, the pushing mechanism includes a driving trolley, guide rails distributed along the direction from the front side to the rear side of the cabinet body are set on the support plate and each cargo lane, and when the support plate moves to any At the rear end of a cargo lane, the guide rail on the cargo lane connects with the guide rail on the support plate, the driving trolley is slidably connected to the guide rail on the support plate, and the suction cup is arranged at the front end of the drive trolley. The driving trolley is connected with the first driving motor; or the pushing mechanism includes a telescopic rod, the telescopic rod is arranged along the direction from the front side to the rear side of the cabinet, the front end of the telescopic rod is connected with the suction cup, and the telescopic rod The rear end of the rod is connected with the second driving motor.

On the basis of the above scheme, the pushing mechanism includes a push-pull belt; one end of the push-pull belt is connected to the rotating motor, the winding disk of the push-pull belt is set as a disc structure, and the other end of the push-pull belt is connected to the suction cup. The rear ends are connected, and a snap ring structure is arranged along the moving path of the suction cup, and the push-pull belt passes through the snap ring structure.

On the basis of the above solution, the delivery mechanism includes a conveyor belt structure and a recycling box; there is an intersection between the conveying path of the conveyor belt structure and the moving path of the grabbing mechanism; the recycling box is arranged on the delivery mechanism below the other end.

On the basis of the above solution, it also includes: a through-beam photoelectric switch; the through-beam photoelectric switch is arranged at one end of the delivery mechanism, and the through-beam photoelectric switch is used to detect the state of the goods at one end of the delivery mechanism , and then control the start and stop of the delivery mechanism and the direction of delivery.

On the basis of the above scheme, it also includes: a controller, a motion motor group, a limit switch and a human-computer interaction module; the motion motor group is connected to the motion module, and the human-computer interaction module is arranged in the cabinet The front side of the body, the limit switch is used to control the stop position of the motion module, and the controller is connected with the motion motor unit, limit switch, human-computer interaction module, grabbing mechanism, and delivery mechanism respectively. And connected to the photoelectric switch.

According to the second aspect of the present invention, there is provided an unmanned vending method, using the above-mentioned unmanned vending device, including: grasping the target goods sequentially from back to front on the cargo lane where the target goods are located; delivering the target goods to the delivery The mechanism is sent by the delivery mechanism; the target goods on the delivery mechanism are monitored, and when the residence time of the target goods on the delivery mechanism reaches the preset time, the delivery mechanism returns the target goods to the inside of the cabinet.

(3) Beneficial effects

In the unmanned vending device and method provided by the present invention, setting the motion module can facilitate the movement of the grasping mechanism in the cabinet, and facilitate the movement of the grasping mechanism to the target goods and the delivery mechanism; the setting of the grasping mechanism can effectively Grab the target goods firmly, and deliver the target goods to the delivery mechanism smoothly, which can ensure the stability of the goods during the delivery process and avoid damage to the goods.

Description of drawings

FIG. 1 is a schematic diagram of the internal structure of an unmanned vending device according to an embodiment of the present invention;

Fig. 2 is a schematic diagram of the first structure of the grasping mechanism in the embodiment of the present invention;

Fig. 3 is a second structural schematic diagram of the grasping mechanism in the embodiment of the present invention;

4 is a schematic diagram of the third structure of the grasping mechanism in the embodiment of the present invention;

Fig. 5 is the structural representation of delivery mechanism in the embodiment of the present invention;

Fig. 6 is a schematic diagram of an overall surface of an unmanned vending device according to an embodiment of the present invention;

Fig. 7 is a first control schematic diagram of an unmanned vending method according to an embodiment of the present invention;

Fig. 8 is a second control schematic diagram of an unattended vending method according to an embodiment of the present invention;

Fig. 9 is a schematic flowchart of an unattended vending method according to an embodiment of the present invention.

Explanation of reference signs:

1—cargo rack; 2—first moving axis; 3—second moving axis;

4—grabbing mechanism; 5—picking port; 6—delivery mechanism;

7—control room; 8—cabinet; 9—display area;

10—touch screen; 11—speaker; 41—support plate;

42—drive trolley; 43—suction cup; 44—first drive motor;

45—telescopic rod; 46—take the warehouse; 47—push-pull belt;

48—rotating motor; 49—snap ring structure; 61—conveyor belt structure;

62—Recycling bin.

Detailed ways

The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

An unmanned vending device is provided according to an embodiment of the present invention. Referring to FIG. 1 , the device includes: a cabinet body 8 ; a motion module, a grabbing mechanism 4 and a delivery mechanism 6 are arranged inside the cabinet body 8 . The movement module is connected with the grasping mechanism 4 and is used to drive the grasping mechanism 4 to move in the cabinet body 8 . Through the movement module, it is convenient for the grasping mechanism 4 to grasp goods in any position. The motion module is fixed on the cabinet 8. The grabbing mechanism 4 is used to successively grab target goods from the rear side of the cabinet body 8 to the front side and place them on the delivery mechanism 6 . The cabinet body 8 is provided with a pick-up port 5 at one end of the delivery mechanism 6 .

In the unmanned vending device provided in this embodiment, after the customer selects the target goods, the motion module can drive the grasping mechanism 4 to move to the target goods; then the grasping mechanism 4 grabs the target goods. The target goods can be firmly grasped by the grasping mechanism 4, avoiding goods damage caused by direct falling of goods in existing vending machines.

The target goods are delivered to the delivery mechanism 6 by the grabbing mechanism 4 . The delivery mechanism 6 then delivers the target goods to the pick-up port 5. Customers can take out the goods from the pick-up port 5.

In the unmanned vending device provided in this embodiment, the grabbing mechanism 4 moves in the cabinet body 8 through the movement module, and the grabbing mechanism 4 moves to the target goods and the delivery mechanism 6 through the movement module; The take-up mechanism 4 can effectively and firmly grab the target goods, and deliver the target goods to the delivery mechanism 6 smoothly, which can ensure the stability of the goods during the delivery process and avoid damage to the goods.

On the basis of the above-mentioned embodiments, this embodiment further describes the arrangement structure of the cargo rack 1 in the cabinet body 8 . The cabinet body 8 is provided with a goods rack 1 for placing various goods. The cargo rack 1 includes a plurality of cargo lanes distributed along the direction from the front side to the rear side of the cabinet body 8 . Multiple cargo lanes form a multi-layer and multi-column structure. The width of different cargo lanes is the same or different, and the height of different cargo lanes is the same or different.

Each cargo lane is distributed along the direction from the front side of the cabinet body 8 to the rear side. Multiple goods of the same kind can be placed in sequence from front to back on each cargo lane. The length direction of the cargo lane is the direction from the front side of the cabinet body 8 to the rear side. The customer faces the front side of the cabinet body 8 for shopping. Customers can see the products at the front of each aisle. For each lane, the rear cargo is the same as the frontmost cargo. Different cargo lanes can place different goods. The width and height of the cargo lane can be set according to the specific size of the goods placed.

On the basis of the above embodiments, this embodiment further describes the specific configuration structure of the motion module. Referring to FIG. 6 , a display area 9 is provided at the front side of the cabinet body 8 corresponding to the cargo rack 1 , that is, it is set as a transparent structure. Customers can clearly and intuitively observe the situation of all commodities sold on the front side of the goods rack 1 .

All products are displayed in the order from front to back on the aisle. The movement module drives the grasping mechanism 4 to grasp the goods on the cargo lane sequentially from the rear side to the front side of the cargo rack 1 . That is, the products located at the back of the aisle are sold first each time. So that unsold goods are always placed at the end of the aisle near the display window. It is convenient for customers to always see the products for sale clearly.

Referring to FIG. 1 , the movement module includes a first moving shaft 2 arranged along the width direction of the goods rack 1 and a second moving shaft 3 arranged along the height direction of the goods rack 1 . The movement module is used to drive the grasping mechanism 4 to move along the width direction and the height direction of the cargo rack 1 .

The movement module includes a horizontal movement structure, that is, a first movement axis 2 , and a longitudinal movement structure, that is, a second movement axis 3 . The width direction of the cargo rack 1 is the horizontal direction perpendicular to the length direction of the cargo lane, that is, the width direction of each layer of the cargo rack 1 .

There are two ways to connect the first moving shaft 2 and the second moving shaft 3. The first one is: the first moving shaft 2 can be fixed on the top of the cabinet body 8, and the second moving shaft 3 can slide with the first moving shaft 2 connected, and then the gripping mechanism 4 is slidably connected with the second moving shaft 3 . In this way, the lateral movement structure drives the longitudinal movement structure to move along the width direction of the cargo rack 1 , thereby driving the longitudinal movement structure to reach the position of the row of cargo lanes where the target goods are located. Then the longitudinal movement structure drives the grasping mechanism 4 to move up and down, so that the grasping mechanism 4 reaches the cargo lane where the target goods are located.

The second type is: the second moving shaft 3 can also be fixed and vertically arranged. The first moving shaft 2 is slidably connected to the second moving shaft 3 , and then the gripping mechanism 4 is slidably connected to the first moving shaft 2 . In this way, the longitudinal movement structure drives the transverse movement structure to move along the height direction of the cargo rack 1, thereby driving the grasping mechanism 4 arranged on the transverse movement structure to move to the corresponding height position of the cargo lane where the target goods are placed. Then the lateral movement structure drives the gripping mechanism 4 to move horizontally, so that the gripping mechanism 4 reaches the cargo lane where the target cargo is located.

The lateral movement structure and the longitudinal movement structure can adopt any structure capable of realizing linear movement. For example, take the first connection mode between the first moving shaft 2 and the second moving shaft 3 as an example: the lateral movement structure can be composed of a guide rail and a first slider, that is, the first slider is set to slide with the first moving shaft 2 connected; then the longitudinal motion structure is connected with the first slider. The longitudinal movement structure is driven by the first slider to move horizontally along the first moving axis 2 . The first slider can be driven by a first motor to slide along the first moving shaft 2 to drive the grabbing mechanism 4 to move horizontally along the width direction of the cargo rack 1 .

Similarly, the second slide block is set to be slidingly connected with the second moving shaft 3 . The gripping mechanism 4 can be connected with the second slider. The second slider can be driven by a second motor to move along the second moving shaft 3 to drive the grabbing mechanism 4 to move up and down along the height direction of the cargo rack 1 .

Further, the lateral movement structure and the longitudinal movement structure may also be lead screw structures. Rotary motion is converted into linear motion by a screw and nut. Furthermore, the motion module can also be a structure that can provide three-dimensional linear motion, and the grabbing mechanism 4 can move arbitrarily within the cabinet body 8 to facilitate grabbing goods.

The gripping mechanism 4 can be a suction cup 43 or a robot arm. The suction cup 43 can be a vacuum negative pressure suction cup 43 .

On the basis of the above embodiments, this embodiment further describes the specific setting when the gripping mechanism 4 is a suction cup 43 . The grabbing mechanism 4 also includes a support plate 41 and a pushing mechanism. One end of the support plate 41 is connected to the movement module, and the other end of the support plate 41 is connected to the rear end of the cargo lane when it moves to the rear side of the cargo rack 1 . The suction cup 43 is provided on the support plate 41 . The rear end of the sucker 43 is connected with the push mechanism, and the push mechanism is used to push the negative pressure sucker 43 to move along the cargo lane.

The suction cup 43 is a component that is mainly in contact with the target goods to grasp and fix the target goods. The negative pressure suction cup 43 is provided with a vacuum pump, and the negative pressure suction cup 43 forms a vacuum suction through the vacuum pump, and then the target goods can be sucked and fixed. The support plate 41 is used to support the negative pressure suction cup 43, and is used to connect with the rear end of the cargo lane, so that the negative pressure suction cup 43 moves along the cargo lane from the rear end of the cargo lane, and then sucks the goods at the rear end of the cargo lane .

The pushing mechanism is used to realize the movement of the negative pressure suction cup 43 along the cargo lane, so that the negative pressure suction cup 43 can move to the cargo at the rear end of the cargo lane to suck the cargo, and retract the cargo to the support plate 41 after sucking the cargo. When the first moving shaft 2 and the second moving shaft 3 are connected in the above-mentioned first manner, the support plate 41 is connected with the second moving shaft 3 . When the first moving shaft 2 and the second moving shaft 3 are connected in the above-mentioned second manner, the support plate 41 is connected with the first moving shaft 2 .

Further, the motion module can be arranged on the rear side of the cargo rack 1 .

On the basis of the above embodiments, further referring to FIG. 2 , the pushing mechanism includes a driving trolley 42 . The guide rails distributed along the front side of the cabinet body 8 to the rear side direction are set on the support plate 41 and each cargo lane, and when the support plate 41 moves to the rear end of any cargo lane, the guide rails on the cargo lane and the guide rails on the support plate 41 The rails meet. The driving trolley 42 is slidably connected with the guide rail on the support plate 41 . The suction cup 43 is arranged on the front end of the driving trolley 42 . The driving trolley 42 is connected with a first driving motor 44 .

The drive trolley 42 is set as a propelling mechanism. Driven by the first driving motor 44 , the driving trolley 42 moves along the guide rail. The guide rail is arranged along the length direction of the cargo lane. Arranging linear guide rails on the support plate 41 and the cargo lane can ensure that the driving trolley 42 moves along the specified running track, avoid the deviation of the driving trolley 42, and ensure the accuracy and effectiveness of cargo grabbing.

Further, the guide rails on the cargo lane and the support plate 41 can be a chute structure; correspondingly, a protrusion structure is provided at the bottom of the driving trolley 42 to be slidably connected to the chute. The guide rail is set as a chute without affecting the stable placement of the goods on the cargo lane.

The specific vending process of the unmanned vending device is: after the customer selects the target goods and pays for them, the motion module can move according to the preset position information of each goods, and bring the grabbing mechanism 4 to the place where the target goods are located. back end of the road. When the motion module stops, the support plate 41 should be connected to the rear end of the cargo passage, so that the upper surface of the support plate 41 is connected to the upper surface of the cargo passage to form a plane. And the guide rail on the support plate 41 joins with the guide rail on the cargo lane to form a linear guide rail.

Then the first driving motor 44 drives the driving trolley 42 to move along the guide rail. When the negative pressure suction cup 43 located at the front end of the driving trolley 42 touches the goods, the driving trolley 42 stops moving, and the negative pressure suction cup 43 sucks the goods at the rear end of the cargo lane under the action of the vacuum pump. Then drive the trolley 42 to drive the negative pressure suction cup 43 and the goods to move back to the support plate 41 along the guide rail.

Then the motion module drives the grabbing mechanism 4 and the target goods to move to the delivery mechanism 6. The negative pressure suction cup 43 releases the suction force, and the target goods are stably placed on the delivery mechanism 6, and are delivered to the pick-up port 5 by the delivery mechanism 6.

Further, referring to FIG. 3 , the pushing mechanism includes a telescopic rod 45 , and the telescopic rod 45 is arranged along the direction from the front side to the rear side of the cabinet body 8 . The front end of the telescopic rod 45 is connected with the suction cup 43, and the rear end of the telescopic rod 45 is connected with the second drive motor. The second drive motor drives the telescopic rod 45 to perform linear expansion and contraction along the direction from the front side to the rear side of the cabinet body 8 . The telescopic rod 45 reaches the rear of the target cargo by straight-line extension to absorb the target cargo, and then retracts to bring the target cargo back to the support plate 41 .

On the basis of the above embodiments, further, this embodiment proposes another setting structure of the pushing mechanism. Referring to FIG. 4 , the push mechanism includes a push-pull strap 47 . One end of the push-pull belt 47 is connected with a rotating motor 48 . The push-pull belt 47 wraps around the disc and is configured as a disc structure. The other end of the push-pull belt 47 links to each other with the rear end of the negative pressure suction cup 43 . A snap ring structure 49 is provided on the support plate 41 along the moving path of the negative pressure suction cup 43 . The push-pull strap 47 passes through the clasp structure 49 .

The push-pull belt 47 can be wound into a disc structure, which is convenient for packing up and fixing. Push-pull belt 47 links to each other with rotating motor 48 at the center one end of disc. By the rotation of the rotating motor 48, the other end of the push-pull belt 47 can be stretched and moved or retracted and coiled. Further, the extension or retraction of the push-pull belt 47 can drive the negative pressure suction cup 43 to move along the cargo lane.

When in effect, the elongation of the other end of the push-pull belt 47 pushes the negative pressure suction cup 43 to move to a position close to the target goods along the cargo lane, and then the negative pressure suction cup 43 grabs the commodity. After determining that the commodity is successfully grabbed, the push-pull belt 47 pulls again The suction cup 43 moves and closes, so that the goods leave the cargo rack 1 . A clasp structure 49 is provided on the support plate 41 to limit and control the elongation and retraction path of the push-pull belt 47 to prevent the push-pull belt 47 from shifting.

Push-pull belt 47 should be the structure that is convenient to coil up and has certain hardness. Push-pull belt 47 can be chain structure or belt or plastic belt etc. Wherein, the chain structure can be formed of hard material.

Further, the grabbing mechanism 4 may also be a structure such as a robot arm, for the purpose of being able to grab and fix goods, and is not specifically limited. Both sides of the support plate 41 can also be provided with baffles, that is, to form an opening facing the cargo compartment 46 of the cargo rack 1, and grab the target cargo into the cargo compartment 46 at a time, which is convenient for fixing each component, and can also The movement path of the negative pressure chuck 43 is restricted and controlled.

On the basis of the above embodiments, further referring to FIG. 5 , the delivery mechanism 6 includes a conveyor belt structure 61 . The goods are transported smoothly by the movement of the conveyor belt. Further, the conveyor belt structure 61 can be arranged at the bottom of the cabinet body 8 or at other locations. It is sufficient that the conveying path of the conveyor belt structure 61 intersects with the moving path of the grabbing mechanism 4 . It is convenient for the grabbing mechanism 4 to place the target goods on the conveyor belt structure 61 smoothly.

The conveyor belt structure 61 may include connecting wheels, drive belts and motors. The drive belt is sheathed on the two connecting wheels. The motor controls one of the connecting wheels to rotate, and then drives the belt drive.

The delivery mechanism 6 also includes a return bin 62 . The recovery box 62 is arranged under the other end of the delivery mechanism 6 .

On the basis of the above embodiments, further, an unattended vending device further includes: a through-beam photoelectric switch. The through-radiation photoelectric switch is arranged on one end of the delivery mechanism 6 . The through-beam photoelectric switch is used to detect the state of the goods at one end of the delivery mechanism 6 . And then the start and stop of the delivery mechanism 6 and the conveying direction of the delivery mechanism 6 are controlled.

The delivery mechanism 6 is installed at an end near the pick-up port 5 through the photoelectric switch. After commodity arrives at the assigned position of delivery mechanism 6 one ends, delivery mechanism 6 stops rotating. Customers can take away the goods at the pick-up port 5. The state of the goods on the delivery mechanism 6 can be determined by arranging the through-beam photoelectric switch, and the operation of the delivery mechanism 6 can be controlled according to the state of the goods.

The conveyor belt structure 61 of the delivery mechanism 6 can rotate forward or reversely. When rotating in the forward direction, it is used to deliver the goods to the pick-up port 5. In addition, if the goods are not taken away by the customer after staying at the pick-up port 5 for a preset time, or the customer forgets to pick up the goods, etc., the conveyor belt structure 61 is controlled to rotate in reverse, and the goods are moved to the recycling box 62 for recycling.

Further, the state of the goods can be detected through the through-beam photoelectric switch. Also can be provided with gravity sensor on delivery mechanism 6. The state of the goods is judged by detecting the gravity on the delivery mechanism 6 . When the grabbing mechanism 4 places the goods on the delivery mechanism 6, the delivery mechanism 6 feels the increase in gravity, and then runs according to the preset path to deliver the goods to the pick-up port 5.

After a certain time interval, the gravity on the delivery mechanism 6 does not decrease, that is, the goods are still on the delivery mechanism 6, then the delivery mechanism 6 reverses a certain distance, and the goods are delivered to the recovery box 62.

Existing vending devices often shut down to prevent loss of goods when the goods are not taken away by customers in time, which requires staff to maintain and restart, which not only affects the normal operation of the vending device, but also consumes manpower and increases costs. The vending device is equipped with a recovery function, which can realize the recovery of commodities, and can effectively reduce the restart operation of the vending device and reduce the operation and maintenance cost of the vending device.

On the basis of the above embodiments, further, an unmanned vending device further includes: a controller, a motion motor unit, a limit switch and a human-computer interaction module. The motion motor unit is connected with the motion module and is used to drive the movement of the motion module. The human-computer interaction module is arranged on the front side of the cabinet body 8, which can be a touch display screen, and is used for users to view goods information, purchase goods and make payment.

The limit switch is used to control the stop position of the motion module. The controller is respectively connected with the motion motor unit, the limit switch, the human-computer interaction module, the grasping mechanism 4, the delivery mechanism 6 and the through-beam photoelectric switch. The controller is used for comprehensive intelligent control of the operation of the vending device. The controller is connected with the vacuum pump and the pushing mechanism to control the grasping mechanism 4 . The power supply module is set to supply power to the whole device. The controller can control the switch of the whole device by controlling the switch of the power module.

Inside the cabinet body 8, a control room 7 can be set on one side of the cargo rack 1 for setting control devices such as a controller. The human-computer interaction module can be a touch screen 10 . The touch screen 10 may be provided on the surface of the control room 7 . The human-computer interaction module may also include a loudspeaker 11 and a voice interaction module. The loudspeaker 11 is provided on the front surface of the cabinet body 8 . The voice interaction module is arranged inside the cabinet body 8 and connected to the loudspeaker 11 for man-machine interaction through voice.

Further, a door body can be arranged at the 5 places of the goods picking port, and the door body is connected with a stepping motor. The stepper motor can drive the door to open or close under the control of the controller.

On the basis of the above embodiments, further, an unmanned vending method, using the unmanned vending device provided in any of the above embodiments, the method includes: on the cargo lane where the target goods are located, from back to front Grab the target goods in turn; send the target goods to the delivery mechanism 6, and send them out by the delivery mechanism 6; monitor the target goods on the delivery mechanism 6, and the residence time of the target goods on the delivery mechanism 6 reaches the preset time , the delivery mechanism 6 sends the target goods back to the inside of the cabinet 8 .

On the basis of the above embodiments, further, an unmanned vending device and method are mainly used for automatic vending of electronic products in some public places such as shopping malls, supermarkets, and airports. The main functions of the device are divided into a touch screen 10, a display area 9, an executive pick-up mechanism, a pneumatic source area, a control and drive unit, and a data transmission interface.

The front of the vending device is divided into three areas: a transparent item display area 9, a human-computer interaction interface and a pick-up window. Through the transparent article display area 9, all the commodities for sale can be observed very clearly, and consumers can learn about commodity introductions, select commodities, and complete payment through the human-computer interaction interface. The pick-up window is used for consumers to pick up the purchased items.

7 and 8, the vending device includes an interactive unit, a PLC controller, a state acquisition unit, a driver, a pneumatic unit, a motor unit, a motion module, a cargo rack 1 and a delivery mechanism 6. PLC is responsible for the control of all motors, air pumps, conveyor belts and other equipment, as well as the collection of various equipment states. The PLC communicates with the upper computer (interactive control unit) through the modbusRTU protocol.

The PLC can choose Panasonic FP-XH series, which supports the control of up to 8 motors. Can realize RS232C, RS422/485, Ethernet and other communication needs. A single PLC can meet all the control needs of the vending machine. The power supply module can be set to provide 24V DC power supply for all devices in the vending machine, and the AC/DC switching power supply module is used to convert 220VAC to 24VDC.

The drive unit is the driver of the motor, and the standard configuration is selected. The interactive control unit is used for consumers to complete commodity browsing, selection and payment for purchase. It stores the information of all listed commodities, including the storage position information of the commodities in the shelf of the vending device.

The state acquisition unit is composed of a limit switch, a photoelectric switch, a travel switch and a magnetic scale. It is connected to the PLC. By collecting the states of various switches and magnetic scales, the real-time status of the motion module and the suction cup 43 can be grasped. data.

Referring to Figure 9, after the consumer completes the commodity payment through the interactive unit, the upper computer of the interactive unit sends the determined commodity position number to the PLC controller, and the PLC controller generates a control command according to the commodity position number, and the driver is connected to the PLC controller to receive the PLC control The control command sent by the controller, and converts the control command into the displacement and speed data of the motion module. The motor is connected to the driver and is controlled by the driver. In the motion module, the first moving axis is the Y axis, and the second moving axis is the Z axis.

The internal functional area of the vending device is composed of a cargo rack 1, a motion module, a grabbing mechanism 4 and a delivery mechanism 6. The cabinet body 8 is used to support the motion module, the cargo rack 1 and the delivery mechanism 6 . The cargo rack 1 is used for displaying materials and commodities. The cargo rack 1 includes a plurality of cargo lanes distributed from the front side to the rear side of the cabinet body 8 . Furthermore, material anti-dumping auxiliary bars are also provided on both sides of the cargo lane to ensure that the materials and commodities are arranged in sequence. The anti-dumping auxiliary rod can be baffles arranged on both sides of the cargo lane.

After the upper computer determines the storage location of the sold product, it sends the location code to the PLC controller, and the PLC controller generates the movement module control instruction and the air pump (vacuum pump grabbing instruction) respectively according to the location information. The driver receives control commands and converts them into displacement and speed data signals of the motion module. Respectively control the motion motor group to drive the corresponding moving shaft to move the corresponding displacement at the set speed. To send the grabbing mechanism 4 to the target position.

At the same time, the state collection unit triggers the vacuum pump to grab the command by collecting the state change of the limit switch, and the vacuum pump drives the negative pressure suction cup 43 to grab the commodity. Then the motion motor unit drives the motion module again to place the product on the delivery mechanism 6, and is transported to the pick-up port 5 by the delivery mechanism 6.

The unmanned vending device considers that the pick-up devices of the current vending machine devices are all arranged on the front of the shelf of the vending machine, and the pick-up device moves from the front (front end) of the goods lane to the back (rear end) of the goods lane to grab Commodities on the aisle are sold sequentially from front to back. This method causes unsold products to be stored at the back of the aisle; if there are not many products left on the aisle, that is, the products are relatively far behind or the density of the aisle is too high, making it impossible for customers to visually observe whether there are any products on the aisle. Affect the normal sales of goods. At the same time, the front setting of the pick-up device will also affect the overall aesthetic effect of the vending machine device.

In the unmanned vending device and method, a motion module is set in the cabinet body 8 to realize automatic picking of goods on the goods rack 1 . The grabbing mechanism 4 is arranged on the rear side of the goods lane of the vending device, and the goods are grabbed sequentially from the back to the front, so as to ensure that the unsold goods can be visually observed by consumers. Through the forward and reverse control of the conveyor belt structure 61, the recovery of commodities can be realized, the loss of commodities can be prevented, and the restart operation of the vending machines can be effectively reduced, so as to reduce the operation and maintenance costs of the vending machines.

Adopting the sucker 43 method to realize picking up the goods can be operated flexibly according to the position of the goods to prevent the loss of the goods. A linear track is set on the grasping mechanism 4 to ensure the fixity of the running track of the negative pressure suction cup 43, thereby ensuring the firmness and effectiveness of commodity grasping. By recovering the untaken goods in time, the problems of long replenishment time and low replenishment accuracy in the prior art are solved by shutting down and restarting to complete the recovery of untaken goods.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of the present invention. within the scope of protection.

Claims (10)

1. a kind of self-service device characterized by comprising cabinet body；Be equipped in the cabinet body movement mould group, grasping mechanism and Delivery mechanism, the movement mould group are connected, for driving the grasping mechanism to move in the cabinet body with the grasping mechanism, The grasping mechanism is used to successively grab target goods to front side on rear side of cabinet body and places it in delivery mechanism, the cabinet Body is provided with access section at one end of the delivery mechanism.

2. self-service device according to claim 1, which is characterized in that goods carrier is provided in the cabinet body, it is described Goods carrier includes multiple cargo paths being distributed along the cabinet body front side to rear direction, and multiple cargo paths form multilayer multiple row knots Structure；Different cargo paths it is of same size or different, the height of different cargo paths is identical or different.

3. self-service device according to claim 2, which is characterized in that the movement mould group is included at least along goods carrier Width direction setting first movement axis and along goods carrier short transverse setting the second shifting axle, the first movement axis and Second shifting axle is for driving the grasping mechanism to be moved along the width direction and short transverse of the goods carrier；

The grasping mechanism includes sucker or manipulator.

4. self-service device according to claim 3, which is characterized in that the grasping mechanism further includes support plate and pushes away Motivation structure；The sucker is arranged in the support plate, and one end of the support plate is connected with the movement mould group, the support The other end connects with the rear end of the cargo path when plate is moved on rear side of the goods carrier, the rear end of the sucker and the promotion machine Structure is connected, and the pushing mechanism is for pushing the sucker to move along the cargo path.

5. self-service device according to claim 4, which is characterized in that the pushing mechanism includes driving trolley, The guide rail being distributed on front side of the cabinet body to rear direction is set in the support plate and each cargo path, and in the support plate When being moved to any cargo path rear end, the guide rail in the cargo path connects with the guide rail in support plate, and the driving trolley is in the branch It is slidably connected on fagging with the guide rail, the front end of the driving trolley, the driving trolley and first is arranged in the sucker Driving motor is connected；

Or the pushing mechanism includes telescopic rod, the telescopic rod is arranged on front side of the cabinet body to rear direction, described to stretch The front end of contracting bar is connected with sucker, and the rear end of the telescopic rod is connected with the second driving motor.

6. self-service device according to claim 4, which is characterized in that the pushing mechanism includes push-pull belt；It is described One end of push-pull belt is connected with rotary electric machine, and the push-pull belt winding disc is set as disc structure, the other end of the push-pull belt with The rear end of the sucker is connected, and the movement routine of the sucker is provided with Snap ring structure, the push-pull belt passes through the snap ring Structure.

7. self-service device according to any one of claims 1 to 6, which is characterized in that the delivery mechanism includes transmission Band structure and recycling bins；There are crossover sites for the movement routine of the transport path of the conveyer structure and the grasping mechanism； The lower section of the delivery mechanism other end is arranged in the recycling bins.

8. self-service device according to claim 7, which is characterized in that further include: to penetrating optoelectronic switch；Described pair is penetrated One end of the delivery mechanism is arranged in optoelectronic switch, and described pair is penetrated optoelectronic switch for detecting goods at delivery mechanism one end The state of object, and then the start and stop and conveying direction of delivery mechanism are controlled.

9. self-service device according to claim 8, which is characterized in that further include: controller, motion motor group, limit Bit switch and human-computer interaction module；The motion motor group is connected with the movement mould group, and the human-computer interaction module setting exists The front side of the cabinet body, the limit switch be used for control it is described movement mould group stop position, the controller respectively with institute It states motion motor group, limit switch, human-computer interaction module, grasping mechanism, delivery mechanism and is connected to optoelectronic switch is penetrated.

10. a kind of self-service method, which is characterized in that using any self-service device of the claims 1-9, Include:

In the cargo path locating for target goods, target goods are successively grabbed from back to front；

Target goods are sent to delivery mechanism, by delivery, mechanism is sent out；

Target goods in delivery mechanism are monitored, residence time of the target goods in delivery mechanism reaches preset time When, delivery mechanism sends target goods back to interior of the cabinet.