CN209560632U - A kind of self-service device - Google Patents

Abstract

The utility model relates to automatic vending technical fields, disclose a kind of self-service device, comprising: cabinet body；Movement mould group, grasping mechanism and delivery mechanism are equipped in cabinet body, movement mould group is connected, for driving grasping mechanism to move in cabinet body with grasping mechanism, grasping mechanism is used to successively grab target goods to front side on rear side of cabinet body and places it in delivery mechanism, and cabinet body is provided with access section at one end of delivery mechanism.A kind of self-service device provided by the utility model, setting movement mould group can convenient for grasping mechanism in the intracorporal movement of cabinet, convenient for grasping mechanism be moved at target goods and delivery mechanism at；Setting grasping mechanism effectively can firmly pick up target goods, and target goods are smoothly sent to delivery mechanism, it is ensured that cargo is steady in shipment, and cargo is avoided to damage.

Description

A kind of self-service device

Technical field

The utility model relates to automatic vending technical fields, more particularly to a kind of self-service device.

Background technique

With the arriving in unmanned epoch, there are numerous " unmanned " intelligent industries, such as, unmanned restaurant, prosthetic Factory, unmanned, nobody transport etc., have refreshed cognition of the people to intelligent industry completely.Unmanned convenience store's (retail) because Agree with the needs that consumer pursues Facility Consumption, is favored by more and more business and consumers.For traditional retail, Occupied area is reduced, personnel cost is reduced；Analysis can be collected to the behavioral data of consumer, be easy to implement accurate battalion Pin can be accomplished really small and beautiful to reduce the requirement of inventory, promote the shopping experience of consumer, shorten the time at This.

In existing vending machine, during commercial articles vending, usually by being carried out in structure to the goods drawer on shelf Adjustment, commodity are fallen on conveyer from shelf, realize extraction to commodity.In this mode, for common Commodity for can carry out because do not have to consider kinds of goods damage risk.But consumer electronics etc. want transport Relatively high commodity are sought, existing commodity extracting mode can not obviously operate, and easily increase the damage probability to commodity.

Accordingly, it is considered to which commodity, Ke Yiyou can be picked and placed freely by needing one kind to the safety of commodity and the accurate pick-and-place of commodity Effect avoids the vending machine device of the damage caused by commodity during the extraction process.

Utility model content

(1) technical problems to be solved

The purpose of the utility model is to provide a kind of self-service devices, solve existing vending machine for solution or part It is easy the problem of increasing to commodity damage probability.

(2) technical solution

In order to solve the above-mentioned technical problem, the utility model provides a kind of self-service device, comprising: cabinet body；The cabinet Movement mould group, grasping mechanism and delivery mechanism, the movement mould group is equipped in vivo to be connected with the grasping mechanism, for driving It states grasping mechanism to move in the cabinet body, the grasping mechanism is used to successively grab target goods simultaneously to front side on rear side of cabinet body It places it in delivery mechanism, the cabinet body is provided with access section at one end of the delivery mechanism.

On the basis of above scheme, goods carrier is provided in the cabinet body, the goods carrier includes multiple along the cabinet To the cargo path that rear direction is distributed on front side of body, multiple cargo paths form multilayer multiple row structure；Different cargo paths of same size or The height of difference, different cargo paths is identical or different.

On the basis of above scheme, the movement mould group includes at least the first movement being arranged along goods carrier width direction Axis and the second shifting axle being arranged along goods carrier short transverse, the first movement axis and second shifting axle are for driving The grasping mechanism is moved along the width direction and short transverse of the goods carrier；The grasping mechanism include sucker or Manipulator.

On the basis of above scheme, the grasping mechanism further includes support plate and pushing mechanism；The sucker setting exists In the support plate, one end of the support plate is connected with the movement mould group, after the support plate is moved to the goods carrier The other end connects with the rear end of the cargo path when side, and the rear end of the sucker is connected with the pushing mechanism, the pushing mechanism For pushing the sucker to move along the cargo path.

On the basis of above scheme, the pushing mechanism includes driving trolley, in the support plate and each cargo path The guide rail that upper setting is distributed along the cabinet body front side to rear direction, and when the support plate is moved to any cargo path rear end, Guide rail in the cargo path connects with the guide rail in support plate, and the driving trolley, which slides in the support plate with the guide rail, to be connected It connects, the front end of the driving trolley is arranged in the sucker, and the driving trolley is connected with the first driving motor；Or it described pushes away Motivation structure includes telescopic rod, and the telescopic rod is arranged on front side of the cabinet body to rear direction, the front end of the telescopic rod and suction Disk is connected, and the rear end of the telescopic rod is connected with the second driving motor.

On the basis of above scheme, the pushing mechanism includes push-pull belt；One end of the push-pull belt and rotary electric machine It is connected, the push-pull belt winding disc is set as disc structure, and the other end of the push-pull belt is connected with the rear end of the sucker, along institute The movement routine for stating sucker is provided with Snap ring structure, and the push-pull belt passes through the Snap ring structure.

On the basis of above scheme, the delivery mechanism includes conveyer structure and recycling bins；The conveyer structure Transport path and the movement routine of the grasping mechanism there are crossover sites；The recycling bins setting is another in the delivery mechanism The lower section of one end.

On the basis of above scheme, further includes: to penetrating optoelectronic switch；Optoelectronic switch is penetrated for described pair to be arranged in the delivery One end of mechanism, described pair is penetrated optoelectronic switch for detecting the state of cargo at delivery mechanism one end, and then to delivery machine The start and stop of structure and conveying direction are controlled.

On the basis of above scheme, further includes: controller, motion motor group, limit switch and human-computer interaction module；Institute It states motion motor group to be connected with the movement mould group, the front side of the cabinet body, the limit is arranged in the human-computer interaction module Switch for control it is described movement mould group stop position, the controller respectively with the motion motor group, limit switch, people Machine interactive module, grasping mechanism, delivery mechanism and to penetrate optoelectronic switch be connected.

(3) beneficial effect

A kind of self-service device provided by the utility model, setting movement mould group can be intracorporal in cabinet convenient for grasping mechanism It is mobile, convenient for grasping mechanism be moved at target goods and delivery mechanism at；Setting grasping mechanism effectively can be picked up firmly Target goods, and target goods are smoothly sent to delivery mechanism, it is ensured that cargo is steady in shipment, avoids goods Object damages.

Detailed description of the invention

Fig. 1 is a kind of schematic diagram of internal structure of self-service device of the utility model embodiment；

Fig. 2 is the first structure diagram of grasping mechanism in the utility model embodiment；

Fig. 3 is the second structural schematic diagram of grasping mechanism in the utility model embodiment；

Fig. 4 is the third structural schematic diagram of grasping mechanism in the utility model embodiment；

Fig. 5 is the structural schematic diagram of delivery mechanism in the utility model embodiment；

Fig. 6 is a kind of entire surface schematic diagram of self-service device of the utility model embodiment；

Fig. 7 is the first control schematic diagram of the self-service device of the utility model embodiment；

Fig. 8 is the second control schematic diagram of the self-service device of the utility model embodiment；

Fig. 9 is a kind of operation chart of self-service device of the utility model embodiment.

Description of symbols:

1-goods carrier；2-first movement axis；3-the second shifting axle；

4-grasping mechanisms；5-access sections；6-delivery mechanisms；

7-control rooms；8-cabinet bodies；9-show areas；

10-touch screens；11-loudspeakers；41-support plates；

42-driving trolleies；43-suckers；44-the first driving motor；

45-telescopic rods；46-picking storehouses；47-push-pull belts；

48-rotary electric machines；49-Snap ring structures；61-conveyer structures；

62-recycling bins.

Specific embodiment

With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below Example is not intended to limit the scope of the present invention for illustrating the utility model.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary, It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition The concrete meaning of language in the present invention.

A kind of self-service device is provided according to the utility model embodiment, with reference to Fig. 1, which includes: cabinet body 8；Cabinet Movement mould group, grasping mechanism 4 and delivery mechanism 6 are equipped in body 8.Movement mould group is connected, for driving gripper with grasping mechanism 4 Structure 4 moves in cabinet body 8.By moving mould group, the cargo at any position can be grabbed convenient for grasping mechanism 4.It is solid to move mould group It is scheduled on cabinet body 8.Grasping mechanism 4 is used to successively grab target goods to front side from 8 rear side of cabinet body and places it in delivery machine On structure 6.Cabinet body 8 is provided with access section 5 at one end of delivery mechanism 6.

A kind of self-service device provided in this embodiment, after customer has selected target goods, movement mould group can band Dynamic grasping mechanism 4 is moved at target goods；Then grasping mechanism 4 grabs target goods.It can be incited somebody to action by grasping mechanism 4 Target goods are securely picked up, avoid in existing vending machine cargo directly fall and caused by cargo damage.

Target goods are sent to delivery mechanism 6 by grasping mechanism 4.Then delivery mechanism 6 send target goods to taking At goods mouth 5.Customer can take out cargo from access section 5.

A kind of self-service device provided in this embodiment, grasping mechanism 4 are moved in cabinet body 8 by moving mould group, are grabbed Take mechanism 4 by move mould group be moved at target goods and delivery mechanism 6 at；Grasping mechanism 4 is arranged can be effectively firm Target goods are picked up, and target goods are smoothly sent to delivery mechanism 6, it is ensured that cargo is steady in shipment, Cargo is avoided to damage.

On the basis of the above embodiments, further, the present embodiment carries out the setting structure of goods carrier 1 in cabinet body 8 Explanation.Goods carrier 1 is provided in cabinet body 8, for putting a variety of cargos.Goods carrier 1 includes multiple along 8 front side of cabinet body to rear side The cargo path of directional spreding.Multiple cargo paths form multilayer multiple row structure.Of same size or different, the height of different cargo paths of different cargo paths It spends identical or different.

Each cargo path is along the directional spreding from 8 front side of cabinet body to rear side.It can from front to back successively in each cargo path Multiple same cargos are placed in arrangement.The length direction of cargo path is i.e. from 8 front side of cabinet body to the direction of rear side.Customer faces cabinet body 8 Front side do shopping.The cargo positioned at each cargo path front end can be seen in customer.For in each cargo path, back cargo with most The cargo of front end is identical.Different cargo paths can place different cargos.The width and height of cargo path can be according to institute's arrangements of goods Specific size is set.

On the basis of the above embodiments, further, the present embodiment carries out the specific setting structure of movement mould group Explanation.With reference to Fig. 6,8 front side of cabinet body is equipped with show area 9 with 1 corresponding position of goods carrier, that is, is set as transparent configuration.Customer can Clearly intuitively to observe all the case where selling goods on front side of goods carrier 1.

All commodity display in cargo path according to sequence successively from front to back.Moving mould group drives grasping mechanism 4 from goods The rear side of rack 1 successively grabs the commodity in cargo path to front side.The commodity on rear side of cargo path are first sold every time.So that not selling Complete commodity are placed on cargo path at one end of impression window always.It can be clearly seen that quotient for sale always convenient for customer Product.

With reference to Fig. 1, it includes high along the first movement axis 2 of 1 width direction of goods carrier setting and along goods carrier 1 for moving mould group Spend the second shifting axle 3 of direction setting.Movement mould group is for driving width direction and height of the grasping mechanism 4 along goods carrier 1 It is moved in direction.

The movement mould group includes transverse movement structure i.e. first movement axis 2 and longitudinal movement structure i.e. the second shifting axle 3.Goods The width direction of rack 1 is the horizontal direction perpendicular with the length direction of cargo path, the i.e. width direction of every layer of goods carrier 1.

Connection type that there are two types of first movement axis 2 and the second shifting axle 3, the first are as follows: the fixation of first movement axis 2 can be set It sets at the top of cabinet body 8, the second shifting axle 3 is slidably connected with first movement axis 2, then by grasping mechanism 4 and the second shifting axle 3 It is slidably connected.In this way, transverse movement structure drives longitudinal movement structure to be moved along the width direction of goods carrier 1, thus band At that column cargo path position where dynamic longitudinal movement structure arrival target goods.Then longitudinal movement structure drives grasping mechanism 4 move up and down, so that grasping mechanism 4 reaches at the cargo path of target goods place.

Second are as follows: the fixation of the second shifting axle 3 can also be vertically arranged.First movement axis 2 and the sliding of the second shifting axle 3 connect It connects, then grasping mechanism 4 is slidably connected with first movement axis 2.In this way, longitudinal movement structure drives transverse movement structure along cargo The short transverse of frame 1 is mobile, is placed so that the grasping mechanism 4 being arranged in transverse movement structure be driven to be moved to target goods The respective heights position of cargo path.Then transverse movement structure drives grasping mechanism 4 to move horizontally, so that grasping mechanism 4 reaches mesh Where marking cargo at cargo path.

Any structure that can be realized linear movement can be used in transverse movement structure and longitudinal movement structure.For example, with One shifting axle 2 and the second shifting axle 3 use for the first connection type: transverse movement structure can be for including guide rail and first Sliding block composition, that is, be arranged the first sliding block and be slidably connected with first movement axis 2；Then longitudinal movement structure is connect with the first sliding block. Longitudinal movement structure is driven to move horizontally along first movement axis 2 by the first sliding block.First sliding block can be by first motor drives edge First movement axis 2 slides, to drive grasping mechanism 4 to move horizontally along 1 width direction of goods carrier.

Equally, the second sliding block of setting is slidably connected with the second shifting axle 3.Grasping mechanism 4 can be connected with the second sliding block.Second Sliding block can be moved by the second motor driven along the second shifting axle 3, with drive grasping mechanism 4 along 1 short transverse of goods carrier into Row moves up and down.

Further, transverse movement structure and longitudinal movement structure can also be screw structure.It will by screw rod and nut Rotary motion is converted to linear motion.Further, movement mould group can also be that can provide the structure of 3 d-line movement, gripper Structure 4 can arbitrarily be moved in cabinet body 8, convenient for crawl cargo.

Grasping mechanism 4 can be sucker 43 or manipulator.Sucker 43 can be negative pressure of vacuum sucker 43.

On the basis of the above embodiments, further, the present embodiment is to specific setting when grasping mechanism 4 is sucker 43 It is illustrated.Grasping mechanism 4 further includes support plate 41 and pushing mechanism.One end of support plate 41 is connected with movement mould group, props up The other end connects with the rear end of cargo path when fagging 41 is moved to 1 rear side of goods carrier.Sucker 43 is arranged in support plate 41.Sucker 43 Rear end be connected with pushing mechanism, pushing mechanism is for pushing negative pressure sucker 43 to move along cargo path.

Sucker 43 is mainly to contact with target goods, carries out the fixed component of crawl to target goods.Negative pressure sucker 43 is set It is equipped with vacuum pump, makes negative pressure sucker 43 form pull of vacuum by vacuum pump, and then target goods can be drawn and fixed.Support Plate 41 is used to connect with the rear end of cargo path for being supported negative pressure sucker 43, convenient for negative pressure sucker 43 after cargo path End is moved along cargo path, and then is drawn to the cargo of cargo path rear end.

Pushing mechanism moving along cargo path for realizing negative pressure sucker 43, after cargo path can be moved to so as to negative pressure sucker 43 Cargo is drawn at the cargo at end, and is retracted in support plate 41 after drawing cargo.It is moved in first movement axis 2 and second When moving axis 3 is attached with above-mentioned first way, support plate 41 is connected with the second shifting axle 3.In first movement axis 2 and second When shifting axle 3 is attached with the above-mentioned second way, support plate 41 is connected with first movement axis 2.

Further, movement mould group may be provided at the rear side of goods carrier 1.

On the basis of the above embodiments, further, with reference to Fig. 2, pushing mechanism includes driving trolley 42.In support plate 41 and each cargo path on the guide rail that is distributed along the front side of cabinet body 8 to rear direction of setting, and be moved to any goods in support plate 41 When road rear end, the guide rail in the cargo path connects with the guide rail in support plate 41.Drive trolley 42 sliding with guide rail in support plate 41 Dynamic connection.The front end of driving trolley 42 is arranged in sucker 43.Driving trolley 42 is connected with the first driving motor 44.

Setting driving trolley 42 is used as pushing mechanism.Trolley 42 is driven to move under the drive of the first driving motor 44 along guide rail It is dynamic.Guide rail is arranged along the length direction of cargo path.Linear guide rail is set in support plate 41 and cargo path, it is ensured that driving trolley 42 It is moved along specified running track, driving trolley 42 is avoided to deviate, it is ensured that the accuracy and validity of cargo crawl.

Further, the guide rail in cargo path and support plate 41 can be sliding groove structure；Correspondingly, at the bottom of driving trolley 42 Portion's setting projection cube structure is slidably connected with sliding slot.Guide rail, which is set as sliding slot, can not influence the steady placement of cargo in cargo path.

The self-service device is specifically sold goods process are as follows: after customer chooses target goods and pays, movement mould group can It is moved according to the location information of preset each cargo, grasping mechanism 4 is taken to the rear end of cargo path locating for target goods.Movement When mould group stops, support plate 41 should be made to connect with the rear end of cargo path, so that the upper surface of the upper surface of support plate 41 and cargo path It is connected and is a flat surface.And the guide rail in support plate 41 connects to forming linear guide rail with the guide rail in cargo path.

Then the first driving motor 44 drives driving trolley 42 to move along guide rail.Negative pressure positioned at driving 42 front end of trolley is inhaled When disk 43 touches cargo, driving trolley 42 stops movement, and negative pressure sucker 43 under the action of vacuum pump to after the cargo path The cargo at end is drawn.Then driving trolley 42 drives negative pressure sucker 43 and cargo to be moved to support plate 41 along guide rail withdrawal On.

Then movement mould group drives grasping mechanism 4 and target goods to be moved at delivery mechanism 6.The release of negative pressure sucker 43 is inhaled Target goods are stably placed in delivery mechanism 6 by power, are sent to access section 5 by delivery mechanism 6.

Further, with reference to Fig. 3, pushing mechanism includes telescopic rod 45, and telescopic rod 45 is set along 8 front side of cabinet body to rear direction It sets.The front end of telescopic rod 45 is connected with sucker 43, and the rear end of telescopic rod 45 is connected with the second driving motor.Second driving motor band Dynamic telescopic rod 45 carries out linear expansion along from 8 front side of cabinet body to the direction of rear side.Telescopic rod 45 reaches target by linear extension Target goods are drawn at cargo rear, and then target goods band is back in support plate 41 by retracting.

On the basis of the above embodiments, further, the present embodiment proposes another setting structure of pushing mechanism. With reference to Fig. 4, pushing mechanism includes push-pull belt 47.One end of push-pull belt 47 is connected with rotary electric machine 48.47 winding disc of push-pull belt is set For disc structure.The other end of push-pull belt 47 is connected with the rear end of negative pressure sucker 43.Along the shifting of negative pressure sucker 43 in support plate 41 Snap ring structure 49 is provided on dynamic path.Push-pull belt 47 passes through Snap ring structure 49.

Push-pull belt 47 can be wound up as disc structure, convenient for packing up fixation.The center one end and rotation of push-pull belt 47 in disk Motor 48 is connected.By the rotation of rotary electric machine 48, the extending movement of the other end of push-pull belt 47 or withdrawal are folded.And then it is logical The elongation or withdrawal for crossing push-pull belt 47 can drive negative pressure sucker 43 to be moved along cargo path.

In effect, the elongation of 47 other end of push-pull belt pushes negative pressure sucker 43 to be moved adjacent to target goods along cargo path Position, then negative pressure sucker 43 grabs commodity, and after determining that commodity grab successfully, push-pull belt 47 pulls sucker 43 is mobile to receive again It closes, so that cargo leaves goods carrier 1.Snap ring structure 49 is set in support plate 41, path can be withdrawn to the elongation of push-pull belt 47 It is defined control, prevents push-pull belt 47 from deviating.

Push-pull belt 47 should be the structure folded convenient for winding and with certain degree of hardness.Push-pull belt 47 can be chain structure or skin Band or plastic tape etc..Wherein, chain structure can be formed by hard material.

Further, grasping mechanism 4 can also be the structures such as manipulator, for the purpose of being able to achieve and grab fixed cargo, specifically Without limitation.The two sides of support plate 41 may also set up baffle, that is, form opening towards the picking storehouse 46 of goods carrier 1, every time by mesh Mark cargo is grabbed into the picking storehouse 46, both convenient for each component is fixed, can also movement routine to negative pressure sucker 43 into Row limits control.

On the basis of the above embodiments, further, with reference to Fig. 5, delivery mechanism 6 includes conveyer structure 61.Pass through The movement of conveyer belt steadily conveys cargo.Further, conveyer structure 61 may be provided at the bottom of cabinet body 8, can also It is arranged at other positions.There are crossover sites for the movement routine of the transport path of conveyer structure 61 and grasping mechanism 4.Just Can smoothly target goods be placed on conveyer structure 61 in grasping mechanism 4.

Conveyer structure 61 may include fifth wheel, driving belt and motor.Driving belt is set on two fifth wheels.Electricity Machine controls one of fifth wheel rotation, and then drives belt transmission.

Delivery mechanism 6 further includes recycling bins 62.The lower section of 6 other end of delivery mechanism is arranged in recycling bins 62.

On the basis of the above embodiments, further, a kind of self-service device further include: to penetrating optoelectronic switch.It is right Penetrate one end that delivery mechanism 6 is arranged in optoelectronic switch.To penetrating optoelectronic switch for detecting the shape of cargo at 6 one end of delivery mechanism State.And then the start and stop of delivery mechanism 6 and the conveying direction of delivery mechanism 6 are controlled.

Delivery mechanism 6 close to the installation of one end of access section 5 to penetrating optoelectronic switch.When commodity reach 6 one end of delivery mechanism Designated position after, delivery mechanism 6 stops operating.Customer can take cargo away at access section 5.By setting to penetrating optoelectronic switch It can determine state of the cargo in delivery mechanism 6, the operating of delivery mechanism 6 can be controlled according to cargo state.

The conveyer structure 61 of delivery mechanism 6, which can rotate forward, also to be rotated backward.When rotating forward, for cargo to be sent To access section 5.In addition, if cargo is not taken away by customer, customer forgets picking after stop preset time at access section 5 When, control conveyer structure 61 rotates backward, and goods movement is recycled into recycling bins 62.

It further, can be by detecting the state of cargo to optoelectronic switch is penetrated.Gravity can also be set in delivery mechanism 6 Sensor.Cargo state is judged by the detection to gravity in delivery mechanism 6.Delivery is placed goods onto grasping mechanism 4 When in mechanism 6, delivery mechanism 6 experiences gravity increase, then operates according to preset path, cargo is sent to access section 5.

If after separated in time, gravity is not reduced in delivery mechanism 6, i.e., cargo is still in delivery mechanism 6, then 6 antiport certain distance of delivery mechanism, cargo is sent into recycling bins 62.

Existing goods selling equipment prevents loss of goods often through shutdown when cargo is not taken away by customer in time, this Sample just needs staff that maintenance is gone to restart, and not only influences the normal operation of goods selling equipment and spends manpower, increases cost.This is sold Goods device setting recycling function is placed and is lost, and can effectively reduce the weight to goods selling equipment, it can be achieved that recycling to commodity Manipulation is opened, the O&M cost of goods selling equipment is reduced.

On the basis of the above embodiments, further, a kind of self-service device further include: controller, motion motor Group, limit switch and human-computer interaction module.Motion motor group is connected with movement mould group, for driving the movement of movement mould group.People The front side of cabinet body 8 is arranged in machine interactive module, can be touch display screen, check goods information for user, choose cargo and It is paid.

Limit switch is used to control the stop position of movement mould group.Controller respectively with motion motor group, limit switch, people Machine interactive module, grasping mechanism 4, delivery mechanism 6 and to penetrate optoelectronic switch be connected.Controller is used for the fortune to the goods selling equipment Row carries out comprehensive intelligent control.Controller is connected with vacuum pump and pushing mechanism, to control grasping mechanism 4.Setting electricity Source module to whole device for being powered.Controller can open opening for control whole device by control power module Shutdown.

Can be in the inside of cabinet body 8, control room 7 is arranged in the side of goods carrier 1, for the control devices such as controller to be arranged.People Machine interactive module can be touch screen 10.Touch screen 10 may be provided at the surface of control room 7.Human-computer interaction module, which may also include, to amplify Device 11 and voice interaction module.The front-end surface of cabinet body 8 is arranged in loudspeaker 11.Voice interaction module is arranged inside cabinet body 8, It is connected with loudspeaker 11, for carrying out human-computer interaction by voice.

Further, settable door body at access section 5, door body are connected with stepper motor.Stepper motor can tape controller Control is lower to drive door body to open or close.

On the basis of the above embodiments, further, a kind of self-service method, using being mentioned in any of the above-described embodiment The self-service device of confession, this method comprises: successively grabbing target goods from back to front in the cargo path locating for target goods；It will Target goods are sent to delivery mechanism 6, are sent out by delivery mechanism 6；Target goods in delivery mechanism 6 are monitored, target goods For object when the residence time in delivery mechanism 6 reaching preset time, delivery mechanism 6 sends target goods inside cabinet body 8 back to.

On the basis of the above embodiments, further, a kind of self-service device and method is mainly used for market, surpasses The automatic vending of the electronic product of some public places such as city, airport.The major function of device be divided into touch screen 10, show area 9, Execute the composition such as picking mechanism, pneumatic source region, control and driving unit, data transmission interface.

The front of goods selling equipment is divided into for 3 regions: transparent articles show area 9, human-computer interaction interface and picking window. All wait sell goods through the observing of being perfectly clear of transparent articles show area 9, consumer passes through human-computer interaction circle Face will be seen that buyer's guide, selection commodity and complete the functions such as payment.Picking window, which is then taken to consumer, to be bought Article.

With reference to Fig. 7 and Fig. 8, goods selling equipment includes interactive unit, PLC controller, state acquisition unit, driver, pneumatic Unit, motor group, movement mould group, goods carrier 1 and delivery mechanism 6 form.PLC is responsible for the equipment such as all motors, air pump, conveyer belt Control and various kinds of equipment state acquisition.Pass through modbusRTU agreement between PLC and host computer (interaction control unit) It is communicated.

PLC can select Panasonic FP-XH serial, which could support up the control of 8 motors.Achievable RS232C, The communications such as RS422/485, Ethernet need.Single PLC can meet all demands for control of vending machine.Settable power supply Module provides 24V DC power supply for all devices in vending machine, and using AC/DC switch power module, 220VAC is converted to 24VDC。

Driving unit is the driver of motor, selection standard configuration.Interaction control unit is clear to consumer's completion commodity Look at, select and pay purchase.It is stored with all information in record commodity, the storage including commodity in the shelf of goods selling equipment Location information.

State acquisition unit is then to be made of limit switch, optoelectronic switch, travel switch and magnetic railings ruler, connect with PLC, By acquiring the state of the equipment such as various switches and magnetic railings ruler, the real-time status data of movement mould group and sucker 43 is grasped.

With reference to Fig. 9, consumer is completed after commodity pay by interactive unit, and the host computer of interactive unit is by determining commodity Position Number is sent to PLC controller, and PLC controller is numbered according to product locations generates control instruction, and driver connects PLC control Device processed receives the control instruction that PLC controller is sent, and the control instruction is converted to the displacement and speed data of movement mould group. Motor connects driver, and by driver control.Moving first movement axis in mould group is Y-axis, and the second shifting axle is Z axis.

Goods selling equipment built-in function area moves mould group by goods carrier 1, and grasping mechanism 4 and delivery mechanism 6 form.Cabinet body 8 is used In supporting movement mould group, goods carrier 1 and delivery mechanism 6.Goods carrier 1 is for displaying material commodity.Goods carrier 1 includes multiple edges The cargo path being distributed from 8 front side of cabinet body to rear side.Further, cargo path two sides are additionally provided with material overturning-preventing auxiliary rod, guarantee object Expect commodity successively regular arrangement.Overturning-preventing auxiliary rod can be the baffle that cargo path two sides are arranged in.

After host computer has determined and sold the storage position of commodity, PLC controller, PLC control are sent to by position encoded Device generates movement mould group control instruction and air pump, that is, vacuum pump fetching instruction according to the location information respectively.Driver receives control System instructs and is converted to displacement and the speed digital signals of movement mould group.Control motion motor group drives corresponding shifting axle respectively With the corresponding displacement of speed movement of setting.Sending grasping mechanism 4 to target position.

Meanwhile state acquisition unit is changed by the state of acquisition limit switch, to trigger vacuum pump fetching instruction, vacuum Pump drives negative pressure sucker 43 to grab commodity.Then drive movement mould group that commodity are placed in delivery mechanism again by motion motor group On 6, access section 5 is transported to by delivery mechanism 6.

The self-service device is being all disposed within the shelf of vending machine just in view of the goods taking device of current vending machine device Face, the mobile commodity gone in crawl cargo path in the back side (rear end) of the goods taking device from the front (front end) of cargo path to cargo path, commodity are It is successively sold according to sequence from front to back.This kind of mode causes the commodity storage that do not sell on rear side of cargo path；If quotient in cargo path Product are remaining, and seldom i.e. commodity compare rearward or cargo path density is too big, lead to whether also customer can not be visually observed that in cargo path Commodity will affect normally selling for commodity.Meanwhile the front setting of goods taking device, it also will affect the integrated beauty of vending machine device See effect.

The self-service device and method by cabinet body 8 be arranged movement mould group, realize on goods carrier 1 commodity from Dynamic picking.Grasping mechanism 4 is arranged in the rear side of goods selling equipment cargo path, successively grabs cargo according to sequence back to front, is protected Card does not sell goods and can intuitively be observed by consumer.By the forward and reverse control of conveyer structure 61, realize to commodity Recycling, prevents the loss of commodity, and can effectively reduce the reboot operation to vending machine, reduces the O&M cost of vending machine.

Picking to commodity is realized using 43 mode of sucker, commodity can be prevented according to the position of commodity, flexible operating It loses.Line style track is set on grasping mechanism 4, guarantees the stationarity of 43 running track of negative pressure sucker, to guarantee that commodity are grabbed The fastness and validity taken.Cargo is not taken away by withdrawing in time, solves the prior art by cycle power to complete not Take cargo withdrawal away, replenish the problem that the time is long, the accuracy rate that replenishes is low.

The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model Protection scope within.

Claims (9)

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, In 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.