CN101079162A - Method and apparatus for article contact detection in an article handling device - Google Patents

Abstract

An article dispensing apparatus, as in a vending machine (10), including a controllably positioned suction hose dispenser (220) for retrieving articles (223) from a storage area (215). In one embodiment, a sensor (600) having an output (508) responsive to changes in partial pressure inside the air hose (220), such that an airflow sensor (600) coupled to the suction-hose (224), can initially act to sense the timing of contact of the suction-hose (224) with an article (223) to be dispensed. As long as suction is provided to the gripping end of the suction-hose (224) to the hose contacting the article (223) to be retrieved, the airflow inside the hose (224) will change dramatically as the gripping end of the suction-hose (224) contact with the article (223).

Description

Commodity contact detecting method and device in the commodity treatment facility

Background of invention

1. invention field

The present invention relates generally to the design of commodity treatment facility and the improvement in the operation, it is particularly useful in the commodity treatment facility environment that uses air suction type commodity processing mechanism.

2. prior art

Most of existing commodity processing mechanism, especially the commodity processing mechanism in the involved POS system at article dispenser (POS) environment among the present invention all relies on a plurality of motors, switch and coil to come the various piece of mobile processing mechanism and commodity self (for example passing through packaged products) is handled.Most of this machine all needs motor, switch and/or the coil of a special use to handle and to provide and deliver for each row, each row or each class commodity or packing.Such as known to those skilled in the art, this class machine has a lot of shortcomings usually, and for example, its reliability can become relatively poor because of mechanical fault.

United States Patent (USP) 5,240,139 pairs of commodity treatment facilities have been made a significant improvement.A kind of negative pressure lifter has been described (promptly in this article, commodity pick up or processing mechanism) purposes, it enters from the open top that is positioned at the wareroom cabinet among the automatic vending machine refrigeration area, and utilize air-breathing mechanism (that is, the reduction that produces by parital vacuum or be called as " negative " air pressure) with realize with the commodity that will take out between firm the contact.Though automatically the lifter of operation especially the air suction type elevating mechanism do not have usually therein to have obtained widespread usage in the industry assembling of space constraint, their application in the device of the space constraint strictness such as article dispenser are not extensively approved.Have bigger reliability and dirigibility owing to adopt air-breathing technology to grasp and move the automatic vending machine of selecting commodity, thereby people expect to develop the technology and the method that make new advances and operate and control this class machine and other commodity processing mechanisms that more generally uses.

In aforesaid United States Patent (USP) 5,240,139, pick up the machinery on the end or electromechanically provide the commodity contact detection near switch by the commodity that are installed on the negative pressure lifting gear.

People's expectation is avoided picking up the sensor that uses on the end near switchtype at the commodity of lifter, and its reason is that mainly it need provide pick up relevant with switch to hold electrified wire and signaling bearer lead.These leads not only can hinder the free movement of pick-up head, but also can bring integrity problem because of its potential damage.

In addition, in the automatic vending machine that contains air suction type commodity treating apparatus, also need a vacuum brake, so that " snap-out release " of product on the circulation terminal of selling goods.At the United States Patent (USP) 5 that is entitled as " device that is used to regain the commodity of random organization " (APPARATUS FOR RETRIEVINGRANDOMLY ORGANIZED ARTICLES), 957, disclose a kind of sale equipment in 326, this device comprises an air suction type commodity treating apparatus and a vacuum brake.When air-breathing when being loaded on the sucker, the pick-up head that a plurality of suckers (being used for assisting in ensuring that one of commodity that take out a plurality of random organizations from storage cabinet) are installed on it is fallen into storage cabinet.After the process time of scheduled volume, machine controller impels pick-up head to begin to regain from storage cabinet.When pick-up head is retracted, whether a vacuum sensory package that is of coupled connections with each sucker is determined has more than one sucker to adsorb commodity (promptly, be in vacuum state if perceive in the flexible pipe that links to each other with a given sucker, then thinking has the commodity contact).If there is more than one sucker to adsorb commodity, then machine controller will make all rather than the release of the vacuum state of a sucker.

A kind of automatic vending machine is disclosed in the open WO 99/12132 of the PCT patented claim of " automatic vending machine " (" VENDING MACHINE ") by name, it contains a folding articulated jib, is used for that a commodity clamp is drawn flexible pipe and puts into refrigerating chamber to take out commodity to be sold.In this article, both used on the commodity stapling head motor machine operation near switch to be used for opening vacuum source when contact when clamp produces with product, used a position transducer to notify machine controller activation vacuum brake when the expression commodity arrive the precalculated position that dispensing distinguishes again to be used for arriving in stapling head.

Goal of the invention

An object of the present invention is provides a kind of new technology and method for design, operation and the control of commodity processing mechanism.

Another object of the present invention is that design, operation and the control for the commodity processing mechanism with the type that adopts the computer control mechanical ﹠ electrical technology provides new technology and method, and in illustrated embodiment, provide a kind of suction-type clamp of automatic location, pick up selected commodity and it is moved to another place from a place being used to, for example, move to the dispensing district from the Storage.

A further object of the invention is that speed and the precision that commodity are handled can improve in these mechanisms, can also handle commodity to be sold in careful mode simultaneously, thereby prevent that it from any damage occurring for more such mechanisms provide new technology and method.

Summary of the invention

Above-mentioned purpose is that the embodiment by a kind of commodity selling device such as automatic vending machine is able to

Realize, but this device comprises the hose type dispensing device of a controlled location, is used for taking out commodity from the Storage.In one embodiment, the sensor that is of coupled connections on the air suction type flexible pipe such as pneumatic sensor, its output signal is in response to the variation of air hose inside partial pressure.This sensor perceives inhaling hose and the duration of contact between the commodity of waiting to provide and deliver at first.When air-breathing loading being given the clamp end of inhaling hose before touching commodity to be removed at flexible pipe, rapid variation will take place along with the clamp end of inhaling hose in the air-flow of flexible pipe inside (and partial pressure) with contacting of commodity.In addition, when the clamp end of inhaling hose no longer had essence to contact with commodity, because the interior air-flow (and partial pressure) of flexible pipe this moment has produced unexpected variation again, pneumatic sensor can provide an indicator signal once more.Can replace the proximity transducer of existing mechanical operation by the signal that pneumatic sensor produced,, and can be used as and be used for starting the indication of removing commodity in the Storage with so that the clamp end of flexible pipe stops towards commodity approachingly.

When the control gear of vending machine is determined to be normal running, but the time of occurrence Be Controlled mechanism of airflow signal is used for confirming that commodity are correctly moved, for example, move to the dispensing district from the Storage, but, if it is too early (signal from pneumatic sensor occurred before the flexible pipe steady arm moves to flexible pipe in one predetermined dispensing district) that control gear is determined the airflow signal that perceives, then its dispensing/operation of selling goods that has gone out to represent wrong or failure.Therefore, control gear can be taked adequate measures immediately, for example, attempts the dispensing operation again.

When airflow signal was represented proper operation, control gear also can utilize this airflow signal the control of flexible pipe steady arm to be checked and calibrated (if desired).

Among the described here embodiment, pneumatic sensor is united use with an airflow control mechanism (that is, vacuum or air-breathing releasing mechanism, that is, destructor), in order to promote to be subject to processing " snap-out release " of commodity.From this aspect, pneumatic sensor can be comprised within the shell of oneself, and perhaps embodiment as shown is such, and it also can be comprised in the middle of the shell that wherein contains vacuum release/destructor mechanism.In addition, the commodity processing mechanism can utilize machinery or motor machine connecting rod to activate destructor with the response Mechanical Contact, thus in the selected commodity of commodity processing mechanism release, and the air pressure between fast uniform enclosure and the atmosphere outside.Even, because the commodity processing mechanism is to occur on the known position with contacting of machinery or motor machine connecting rod, this known location can be represented one " virtual original position ", therefore, as mentioned above, control gear can utilize the position that arrives this " virtual original position " to check the precision of the positioning control of commodity processing mechanism, and if necessary, also available its calibrated.In another embodiment, can utilize the activation of motor machine or the location sensitive and the destructor that other electronic equipment is realized the commodity processing mechanism of equivalence, for example magnetic operating position switch or coil.

Though used pneumatic sensor in a preferred embodiment of the invention, as another embodiment, the also available vacuum transducer that links to each other with flexible pipe replaces pneumatic sensor even changes with partial pressure that the said flow sensor comes together to detect flexible pipe inside.But, use some advantages of pneumatic sensor to be that it has better holding capacity in the present embodiment, and be easy to accept the fluctuation of power supply or vacuum more.Come the vacuum that is in predeterminated level is determined to compare with the more accurate measurement mechanism of needs, pneumatic sensor can be determined the variation of the relatively small amount of air-flow in the flexible pipe more simply.

Brief description of drawings

Fig. 1 constitutes and the front perspective view of the vending machine operated according to the principle of the invention;

Fig. 2 and Fig. 3 are the front perspective view of vending machine shown in Figure 1, and wherein open at the Qianmen, so that wherein main machinery and the electric component of explanation;

Fig. 4 is the cooperatively interact functional-block diagram of work of explanation main machinery of vending machine shown in Figure 1 and electric component;

Fig. 5, Fig. 6 and Fig. 7 shown according to the principle of the invention constitute and operate its on be equipped with operator link mechanism the vacuum connecting box and the door details.

The detailed description of the preferred embodiment of the present invention

Fig. 1 has shown environment of the present invention described herein with the form of the commodity selling machine such as the automatic vending machine of point of sale (POS).Although explanation is central in full with reference to the enforcement of the present invention in the automatic vending machine environment in the back, term " automatic vending machine " and environment in fact of the present invention should comprise more general commodity processing, fetch and/or distributing equipment, and POS equipment.If this equipment is embodied as mancarried device, can comprise and approximately be traditional vending machine or big to the trailer that drags by traction engine, if and be embodied as non-mancarried device, then can comprise and be embodied as between automatic vending or be arranged in permanent structure as in a zone of buildings (cabinet that has interior wall or sealing on the ground or underground).In addition, term " commodity " or " product " are included in some embodiment of invention described herein at least, not only refer to goods, but also comprise the service and/or the information of permanent or interim form.

Fig. 1 has shown the stereographic map of vending machine 10, comprises an embodiment of formation and apparatus operating according to the present invention.Vending machine 10 comprises main cabinet 12 and is installed in and is used to enter the Qianmen 14 that (fill vending machine, safeguard with commodity, or the like) served in vending machine inside on the pivot 16.Notice that in the embodiment of another vending machine, service door or port can be arranged on the cabinet 12 or as the part of cabinet 12.Show that in Fig. 1 Qianmen 14 is in the closed position, formed obturator, wherein held the various parts of vending machine 10, will illustrate in greater detail below with main cabinet 12.

Qianmen 14 comprises the tapering part 18 adjacent with flat 20; But these specific shapes are not essential for the present invention.Tapering part 18 comprises transparent or semitransparent plastics display panel 18, generally have brand and/or show the sign figure thereon, and can comprise that describe can be by the figure of the 10 indivedual commodity sold of selling goods, and the price of commodity and/or selection information.The panel 18 general fluorescent lights that adopt are as back of the body irradiation, and are not shown.

The client fetches district 22 and is formed in door 14 the panel 18, so that wherein Chu Zang commodity can be provided user to vending machine 10.

Various user interface component are installed on the flat 20 of door 14.Customer monitor 24 can be conventional fluorescence or LED display, show various items of information with user to machine 10, such as the feedback that the user is selected, desired quantity, and whether product is sold or sold.In order to accept payment, cashing machine inlet 26 takes in conventional gathering mechanism (being installed in the machine 10 so that its user interface part is stretched out by the opening that aligns in the flat 20) with bank note, to buy commodity or small change.(also be installed in the machine 10) in coin entry 28 the coin changer that coin income is conventional, to buy commodity or small change so that the opening of its user interface part by alignment in the flat 20 stretches out.Coin returns the mechanism that actuator 30 comprises conventional release coin, is used to drive the coin returning part of coin exchange mechanism, and the coin that the coin returning part is filled in the active user under this driving returns to coin and returns in the hole 32.The coin returning part of coin exchange mechanism also offers coin with change and returns hole 32 in response to the purchase of commodity or for bank note or large-denomination coin change the time.Credit/debit card groove 34 accepts to be inserted into the plastics credit cards/debit card in the conventional card reader mechanism (also being installed in the machine 10 so that its user interface part is stretched out by the opening that aligns in the flat 20), does shopping by credit/debit card to allow the user.Door lock mechanism 36 is locked Qianmen 14, thereby does not have key just it can't be opened.For the user can be selected, display panel 18 can comprise aforesaid figure, the extensive stock that it indicates this machine to sell, and their relevant prices and unique selection number.In addition, flat 20 can comprise the commodity demonstration of set of diagrams shapeization and their dutiable value mutually.Conventional keyboard button mechanism 38 is provided to make the user to select the commodity of wanting from vending machine.In addition, button mechanism 40 can comprise the independently button that is used for each commodity selection, and relevant price shows; In addition, even can replace button mechanism 40 and display 24 with the touch-screen of user operation.Although it is not shown among Fig. 1, machine 10 also comprises conventional telecommunications components, can be used for sales slip is carried out authentication, and other purposes relevant with machine control and to the stock and the mode of operation of the position message machine 10 in a distant place, the back will illustrate more fully to this.Although being shown as, vending machine 10 comprises above-mentioned user interface component, in the less embodiment of the present invention, can omit the most parts in these user interface component, even be not whole, and in fact automatic vending machine can be controlled by long-range, no matter whether have local payment system.

Fig. 2 is the isometric front view of the vending machine of Fig. 1, and open at its Qianmen, so that explanation main machinery and electric component wherein.Fig. 3 is the version that the critical piece of the commodity processing mechanism part of vending machine 10 has been idealized to a certain extent, is used to understand its general operation.Notice that some part of vending machine 10 has been removed in these accompanying drawings, so that inner parts are described better.

With reference to figure 2, the right-hand component of cabinet 12 fronts comprises a vertically arranged support panel 202 earlier, and it is used to install most user interface component.More particularly, the support 204 of hinged installation is installed on panel 202, and with door 14 on register so that user interface component such as selector button keyboard 40, coin entry 30, cashing machine inlet 28, coin returner 32 and customer monitor 24 can both be brought in contact by the user before door 14.In order to illuminate panel 18 from the back side, two fluorescent light source (also can use the light source of other quantity) are installed in the inside at the Qianmen 14 that is positioned at protective cover 206 back.14 inside also is equipped with the 208 and products of ballast (ballast) that are used for fluorescent light and carries chute 210 at the Qianmen.Note, product is carried chute 210 to be different from the routine techniques part and is that it is high especially, therefore and, fetch and distinguish 22 and enter in the machine without permission by from machine outside, arm or other grasping mechanism being inserted into the client preventing as the locking measure.In the vending machine of typical prior art, can see the swing type safety door usually at the top of chute 210, it promotes the swing door of porch and fetches the 8 o'clock pendulum in district to the position that prevents to destroy to product the client.In another embodiment of vending machine 10, this safety door can carry chute 210 to be used in combination with product, if when fetching district 8 more the highland is positioned on the machine 10 when particularly chute 210 is not high as shown in Figure 2 and as fruit product.Be equipped with in hinged mounting bracket 204 back: conventional gathering mechanism is used for making the bank note that inserts cashing machine inlet 28 to be pulled into vending machine 10; Conventional coin change machine is used for providing coin to coin return port 34; And conventional cash inspecting machine, be used to confirm that bank note correctly fills in cashing machine inlet 28.

Control panel 212 comprises printed circuit board (PCB), is formed with circuit on it, and integrated circuit (IC) chip is housed.Control panel 212 comprises microprocessor, and it is electrically connected with various sensors, motor, above-mentioned user interface and other device in vending machine 10.Although be to carry out, be to be understood that these functions are to be controlled by microprocessor and the interlock circuit that is formed on the control panel 212 with reference to the operation of the predetermined function of control panel 212 in this explanation.Power supply 214 is installed on the panel 202 and to the electric component of vending machine 10 and powers.

With reference now to Fig. 3,, obviously the volume inside of cabinet 12 can be used as wareroom district 215.In an illustrated embodiment, on the inner bottom surface 217 of cabinet 12, arrange the wareroom cabinet 216 of a plurality of vertical alignments, be used to store the commodity of selling by machine 10 223.Storage cabinet can be arranged on the shelf of placing above the refrigeration system in refrigerating environment of the present invention.

The size of the container 219 of open-top can be designed as stores a plurality of wareroom cabinets 216 therein, and is used for for example making that being easy to simultaneously a plurality of storage cabinets 216 to be handled (promptly take out, lay and transport) goes into/go out wareroom zone 215.Container 219 also is convenient to fast and accurately a plurality of wareroom cabinets be put into the storage area of commodity treatment facility.One conveyer 218 (can more generally be referred to as X-Y or plane positioning mechanism) is connected with the top side, inside of cabinet 12, and is suitable for controllably being placed into by the control panel part 212 of machine 10 center (so that aliging with this open top) on one the open top of selecting in a plurality of wareroom cabinets 216.

Although shown the vertical alignment of wareroom cabinet 216, that off plumb promptly tilts or or even the alignment of level also be fine.In addition, although wareroom cabinet 216 is shown as under atmospheric environment, in fact storage cabinet 216 can be held in place in the cold storage plant of 217 bottoms, Storage, as the United States Patent (USP) of mentioning in front 5,240, shown in 139 and as described in, perhaps whole Storage all can be under the refrigerating environment.

In environment of the present invention, the roller of placing by quadrature 213 (or device of other low friction) of lighting before air hose 220 is withdrawed from by hose storage district 222 from it continues up to its free end 221.Free end 221 comprise with bellows expanding end part 227 combination increase the weight of part 225.According to by the physical characteristics of the commodity sold, commodity pick-up head 224 can include only and increase the weight of part 225, or the assembly of this part and the joint that is suitable for being sold the type of merchandise specially (for example bellows head 227 or do not have the flexible head of weight).One end and the negative pressure of flexible pipe 220 is that source of suction is connected, and source of suction comprises the free end that a hair-dryer motor 226, is connected with commodity pick-up head 224 in a preferred embodiment.In the present invention, the meaning of " continuously " is meant and connects flexible pipe between two-end-point, finishes as a whole or single function that flexible pipe requires thereby this flexible pipe moves.Air hose part 235 provides suction from hair-dryer motor 226 to a port of air connecting box 229, and continuous flexible pipe 220 is connected with second port of air connecting box 229.

In illustrated embodiment, the air connecting box 229 that is positioned at 222 tops, hose storage district comprises pneumatic sensor and vacuum brake (breaker) assembly that a principle according to the present invention constitutes and works.Pneumatic sensor is used to form the airflow signal that airstream hose 220 is passed through in the expression that is carried on the vending machine controller.The vacuum brake assembly is used for the air pressure of flexible pipe 220 is become atmospheric pressure apace, thereby can be with the commodity " snap-out release " that transported by the commodity pick-up head to the chute 210 of delivering.Note, the snap-out release of product not necessarily carries out at the top of delivery chute 210, avoid commodity to be subjected to owing to stopping up or when falling the external force that causes in hope, the bottom that the commodity pick-up head can advance to delivery chute 210 always utilizes or discharges commodity without the snap-out release valve.As the more detailed explanation that will carry out with reference to figure 5 and Fig. 6, in one embodiment, the layout structure of pneumatic sensor can comprise two parts switch, first comprises a reed switch that is installed on box 229 tops, and second portion comprises and is installed in the free-ended magnet that the box 229 of swing arm is equipped with in inside.Because swing arm is because the variation of air-flow is swung in box 229, and this switch is by " triggering ", thereby the variation of indication air-flow.The use of this airflow signal will illustrate in greater detail below.In an alternative, the function of air flow valve and snap-out release all can be incorporated in the shell of hair-dryer motor.Utilize this structure, flexible pipe 220 will keep continuously in whole strokes of hair-dryer motor at pick-up head.

As the expression prevailingly of Fig. 3 institute, aliging of conveyer 218 and a selected storage cabinet 216 utilizing a front/rear linear slide 228 (showing in cut-open view) on the front/rear beam 230 that is installed in " L " shape to be done on front/rear (Y) direction, thereby makes conveyer 218 controllably be utilized slider 228 location along front/rear beam.The bottom side portion branch of beam 230 comprises a shelf part 232, conveyer 218 comprise one can be reverse motor 233, its drives and shelf part 232 meshed gears (not shown).From control panel 212 to motor 233 apply forward and motor control signal backward conveyer 218 is driven in front/rear direction.The alignment of a left side/right side (X) direction of conveyer 218 is carried out in a similar fashion, has adopted a left side/right linear slide 234, and it is slidably engaged in the upside of front/rear beam 230 downside with an isolated left side/right beam 236a and 236b.Beam 236a and 236b receive the top of cabinet 12 rigidly.Same connect with the inside top partially rigid of cabinet 12 and but the shelf 238 parallel with beam 236 and a gear 240 that is driven by near the reverse motors 243 that is installed in beam 230 interior angles mesh.From control panel 212 to motor 243 apply forward and gear 240 is rotated motor control signal backward and beam 230 has corresponding mobile, thereby conveyer 218 is mobile on the direction of a left side/right side (X).In an alternative, the detent mechanism part that contains beam 236a and 236b can be with a supporting bracket specific implementation that has the subtend convex edge, and each in the linear slide arrangement 234 all can contain a support that is fixed together with beam 230, and can comprise that running roller that a cover quadrature places is to be used for each quadrature side engagement with convex edge 239a and 239b.

Conveyer 218 comprises that a running roller structure (does not specifically illustrate, but it can contain three running rollers, they are positioned over flexible pipe 220 by quadrature and enter conveyer 218 parts), it be used for flexible pipe 220 move from the direction of basic horizontal along machine 10 inside the top (promptly, at X, in the Y direction) be redirected to the direction perpendicular (that is, in the Z direction) with it.Like this, the free end generation that will impel flexible pipe 220 of moving of conveyer 218 is moved, thereby itself and a selected storage cabinet 216 are axially aligned.Afterwards, a flexible pipe driving mechanism (does not specifically illustrate, but it can comprise " the clamping running roller " of a cover routine work) but driven to order about the storage cabinet 216 that pick-up head 224 is come in and gone out and selected by the motor 508 of a direction, take out the purpose that is stored in commodity wherein thereby reach.In illustrated embodiment, the flexible pipe driving mechanism is installed in the middle of the conveyer 218, but, In yet another embodiment, motor 241 and clamping running roller or other driving mechanism (as articulated jib) can be installed along the length direction of flexible pipe 220 and be moved with other place on this length direction.

This structure, that is, flexible pipe 220 moves in the plane at the X identical with the plane of movement of conveyer 218, Y, has simplified the small-sized flexible pipe location among the present invention and the embodiment of driving mechanism

As previously mentioned, because flexible pipe 220 from its end that is connected with source of suction until form with continuous material till the pick-up head 224 of its other end, so the device of hose storage and/or recovery need be provided during X, Y and Z direction suitably move when commodity are sold operation at pick-up head 224.

Therefore, as shown in Figure 3, an inwall 246 is placed on the next door of the outer wall 248 of cabinet 12 abreast, between outer wall and inwall, to form a hose storage district 222.The area of section in hose storage district 222 is a bit larger tham the area of section of the hose loop that wherein forms.Wall 246 and wall 248 are partly clipped in the drawings, in order to show a flow by gravity that the forms annular take-up device/recovering mechanism 250 that bounces back in flexible pipe 220.Mobile be restricted of annular take-up device 250 in hose storage district 222, sliding hammer 252 pullings that it is had by self to a certain extent, edge along sliding hammer has groove 253, be used to make sliding hammer in hose storage district 222, to keep constant centralized positioning, and be used on flexible pipe 220, providing the tension force of constant " a formation loop ".In addition, can cause the centralized positioning of flexible pipe 220, thereby prevent that flexible pipe 220 from rubbing with the sidewall in hose storage district 222 during X, the Y of pick-up head 224 and Z reorientate process the centralized positioning of the sliding hammer 252 that has groove in the hose storage district 222.In order to prevent flexible pipe 220 clots, the size of sliding hammer 252 is designed to be slightly larger than the diameter of flexible pipe 220, and the width dimensions in hose storage district 222 is slightly larger than the width dimensions of sliding hammer 252.The concrete weight of sliding hammer 252 is problems of design alternative, and fixed, for example, the weight of commodity to be moved is used for the intensity at the motor of Z direction driving flexible pipe according to various factors for it, or the like.In yet another embodiment, also can utilize the bottom that a spring will be slided hammer 252 and cabinet 12 to couple together, thereby increase another tension force for annular take-up device 250.

Should also be noted that this recovery based on gravity/hose storage technology both can satisfy the conveyer 218 storage requirement that move on (left side/right side and front/rear) on X and Y direction, also can satisfy the requirement that pick-up head 224 moves on the Z direction.Certainly, this recovery based on gravity/hose storage technology also can be worked finely in such an embodiment, and in this embodiment, the flexible pipe detent mechanism has adopted R, θ, tongs, articulated jib or other technologies automatically.In addition, for purposes of the invention, illustrated recovery based on gravity/hose storage technology is not essential, can replace above-mentioned technology with an all or part of electrified driving recovery technology fully.

Shown in Fig. 2 and 3, when 223 picked 224 of commodity along its path from storage cabinet 216 when moving to chute 210, it is placed with through being installed in commodity identifications (ID) device 254 in the cabinet 12.The commodity ID device that does not need particular type for the present invention, and restriction according to system, this device can comprise, for example barcode scanner or other light image/pattern recognition system, perhaps even can be anoptic system, such as radio frequency identification (RFID), or be installed in system in the cabinet 12, to discern uniquely and to confirm that the commodity of being sold are exactly selected commodity based on magnetic.The formation of this commodity recognition device is a technique known for those skilled in the art, therefore need not further specifying about this one side.

Commodity ID device 254 is installed in relatively-stationary position in the cabinet 12, this installation makes can carry out some in check moving on the direction of commodity ID device 254, be subjected to good " observation " so that assist in ensuring that the commodity that are transported, and the high confidence level of the commodity that transport that are identified.A kind of mode that provides this ID of making device 254 to move controllably is that it is installed on the Piezoelectric Substrates, and control panel 212 can provide " observation " of voltage with mobile ID device 254 to substrate.Be noted that by using the commodity ID device 254 of suitable location, just only need single commodity ID device 254.This is particularly useful for the human-like vending machine of machine because the robot device can controllably place commodity, and be reapposed over when needed commodity ID device 254 near, thereby assist in ensuring that commodity have reliable ID.

Other embodiment of aforesaid automatic mechanism is contemplated within the scope of the present invention.For example, pneumatic sensor in the illustrated embodiment that the back will illustrate and vacuum brake also can be applied in the sale equipment with other type robotization steady arm, as, rotary-type equipment (R, θ), articulated jib, draw-tube or tongs system, or the like.

In addition, though in illustrated embodiment, only show a Storage 215, flexible pipe 220 and conveyer 218, but the present invention also can be applied in the middle of the dispenser/commodity processor of the type with a plurality of Storages and/or automatic commodity processing mechanism, for example, two automatic processor structures (vertical or horizontal positioned), each device is respectively different Storages, and (for example one is the chill space, another is non-chill space, perhaps one is used for vertically placing product, and another is used for the horizontal positioned product) service is provided.They in this case, need independent flexible pipe, flexible pipe detent mechanism and hose storage district, though may share a source of suction (for example, the hair-dryer motor 226), airflow sensor device and vacuum brake.In addition, also can only use single flexible pipe, flexible pipe detent mechanism and hose storage district in another embodiment, wherein single flexible pipe can provide service for a plurality of warerooms district.Each robotization commodity processing mechanism can have the commodity ID equipment of oneself, perhaps also can share a commodity ID equipment.

In illustrated embodiment, hair-dryer motor 226 provides a higher relatively airshed and low relatively negative pressure.As the selection of design, hair-dryer motor 226 can comprise a vacuum pump, is used to provide the negative pressure of enough degree, still, because the restriction of size and cost has correspondingly also reduced airshed.Under latter event, the diameter of air hose 220 will be littler than the diameter shown in Fig. 2 and Fig. 3, and in application more of the present invention, this point is particularly important.When picking up flexible packaging, illustrated embodiment is particularly useful, its reason is, in picking up the process of flexible packaging, moment or or even the gas leakage that continues can not cause packing to drop usually yet, meanwhile, owing to have the ability of the object of the multiple shape that can pick up Different Weight and size, so it also can provide great dirigibility.Contain at hair-dryer motor 226 under the situation of a vacuum pump, it both can use separately, also can use with a hutch that links to each other with inhaling hose by valve or air hose, in order to bigger airshed to be provided.In addition, also can unite compressor of use and Venturi tube equipment and produce vacuum.

The functional-block diagram of Fig. 4 shows the general operation of technology many aspects and that obtain implementing according to the present invention in comprising as automatic vending machine 10 such commodity vending machines.As shown in Figure 4, control system 400 comprises a microprocessor 402 and relevant memory circuit 404, and this system is built on the control panel 212.Control system 400 also can suitably comprise the electronic section in other parts of automatic vending machine 10.Comprise ROM and RAM high-speed cache in the memory circuit 404, the former is used to preserve running program (known embedded software is used to realize the control of automatic vending machine 10), and the latter then is used for interim service data and other required data of preserving during system operation.Control system 400 response users to payment and selective system 406 (comprise coin shown in Fig. 1 and bank note mechanism 28 and 30 and selector button 40) operation, operate with user interface and commodity treating apparatus automatic vending machine 10, and then the required commodity of dispensing user.More particularly, when the user utilizes payment and after selective system 406 correctly pays the commodity of its selection, control system 400 will be operated X/Y (left side/right side and front/rear) drive motor 408 so that pick-up head 224 is aimed at the storage cabinet 216 of the commodity of wherein preserving user's selection.Then, control system 400 is installed within the conveyer 218 with one and is connected with the flexible pipe drive motor 410 (Z is to motor) of its motion, flexible pipe 220 is urged to the top of the commodity among the storage cabinet of being aimed at.At pick-up head 224 and appropriate time before commodity to be removed contact (in one embodiment of the invention, there is not cold air in the cabinet 12, then this reasonable time can be to be right after before pick-up head 224 enters cabinet 216, if but cold air is arranged, wish that then this time is only with before required commodity contact, its objective is in order to reduce scattering and disappearing of cold air to greatest extent), control system 400 activates hair-dryer motors 226, thereby provides the rising inspiratory force for pick-up head 224.When position transducer 412 is determined pick-up head 224 and has firmly been contacted with required commodity, control system 400 will be impelled flexible pipe drive motor 410 its directions of counter-rotating, from the storage cabinet of aiming at 216, regaining flexible pipe, and then will select commodity and from storage cabinet 216, extract.Then, conveyer 218 is driven to a position of carrying chute 210 to align with commodity.Along with required commodity 233 216 move to chute 210 along its path from storage cabinet, it will be through commodity ID device 254 to be used for unique identification and to confirm that the commodity of selling are exactly the commodity that the user selectes.When sensor 412 perceive conveyer 218 with carry chute 210 aim at after (in this case, sensor 412 can contain a reed switch that is installed on the cabinet antetheca, and magnet that is installed in the forward position of conveyer 218), control system 400 will be closed hair-dryer motor 226, and the commodity that the forfeiture of vacuum will cause selecting are fallen into the client and fetched district 22.As previous described, frangible and can not fall into and fetch the district or be subjected under the situation of this impulsive force at commodity, the bottom that flexible pipe 220 can be urged to conveying chute 210 commodity that get loose again.Should be noted that position transducer 512 can comprise the pneumatic sensor 229 of connecting box, perhaps in another embodiment, it also can comprise the plunger piston type position transducer that mechanically operated and a pick-up head 224 are relevant.In addition, position transducer 412 also can comprise a reed switch that is installed on the cabinet antetheca, and a magnet that is installed in the forward position of conveyer 218.

As mentioned above, the benefit that the excitation of hair-dryer motor 226 is accurately controlled particularly in, under the situation of cabinet internal refrigeration storage, accurately control can reduce the cooling air amount that hair-dryer motor 226 is provided.In a preferred embodiment, microprocessor 402 will encourage hair-dryer motor 226 when pick-up head 224 arrives required commodity, and be actually when its during at once near required commodity (not shifting to an earlier date), because control system 400 has been preserved the relevant up-to-date information of height with the commodity heap of each cabinet 216.When the operator loaded commodity to automatic vending machine 10, this height was in a predeterminated level by hypothesis.When extracting the commodity trial first time after the Storage is filled, by make pick-up head 224 with the speed that reduces towards the commodity that are positioned at cabinet 216 tops, height and true altitude to hypothesis compares then, and control system 400 just can be confirmed this hypothesis height.Control system 400 can also make pick-up head 224 with higher speed near the commodity in this Storage, and have only and just can slow down when at once will be near " top " commodity in this cabinet.This technology helps to guarantee to make the commodity of storage can not be damaged.

Notice that in another embodiment, the height of each commodity can be optional.A kind ofly need not to know that it is just to open hair-dryer motor 226 before knowing the cargo height of before having sold goods that specific commodity stockpile height just can be controlled the comparatively simple method of the operation of hair-dryer motor 226.The certain height that is kept at the commodity among this heap can be enrolled in the storer of control system 400 in advance, perhaps also can compare and calculate the storage height of next commodity to be sold by the height to previous goods in each storage cabinet and known.

When the machine operator activated " resetting " (not shown) switch, control system 400 adopted above-mentioned height detection technology with automatic defaultly, because it supposes that the operator may change the product height in product load level and each cabinet.

Concerning described each embodiment herein, the excitation that can suppose hair-dryer motor or other air-breathing generation equipment (perhaps its substitute, as utilize the vacuum source of valve working) is equivalent to a rapid item grasp force on the pick-up head 224, that is, and and inspiratory force.

Be connected with a communication system 414 on the control system 400, it is used to far-end that the inventories of commodity and the operation information of automatic vending machine are provided, and allows from afar the operation of automatic vending machine to be controlled.In this, communication system 414 can comprise a coupling arrangement, is used for setting up communication link by wired and/or transceiver interface and remote computer.In addition, communication system 414 can communicate with a plurality of automatic vending machines that other has similar coupling arrangement that are in areal, and utilizes wireline interface or radio communication to communicate between them.Communication system 414 even can also provide with a plurality of by LAN (LAN (Local Area Network)), LAWN (WLAN (wireless local area network)) or WAN (wide area network) and be positioned at automatic vending machine of this area and/or communicating to connect of home server/controller.Remote computer can comprise a database, it can receive and/or accumulate the service data from one or more automatic vending machines, then, other people, as deliver goods driver, machine operator, machine master, product vendor etc., just can visit these data (for example, by the internet, perhaps by wired or wireless connection) by utilizing suitable coding.In addition, far-end also can provide the feedback information that is used to control its operation (as, authorization message) to automatic vending machine and carries out subsequent operation to allow it.

In illustrated embodiment, hair-dryer motor 226 provides a higher relatively airshed and appropriate relatively negative pressure.As the selection of design, hair-dryer motor 226 can provide a negative pressure greatly, and still, because the restriction of size and cost, it has also correspondingly reduced airshed.Under latter event, the diameter of air hose 220 will be littler than the diameter shown in Fig. 2 and Fig. 3, and in application more of the present invention, this point is particularly important.When picking up flexible packaging, illustrated embodiment is particularly useful, its reason is, in picking up the process of flexible packaging, with commodity junction moment or or even the gas leakage that continues can not cause packing to drop usually, meanwhile, owing to have the ability of the object of the multiple shape that can pick up Different Weight and size, so it also can provide great dirigibility.An alternative construction of hair-dryer motor 226 can be equipped with a vacuum pump, and it both can use separately, also can use with a hutch that links to each other with inhaling hose by valve or air hose.In addition, also can unite compressor of use and Venturi tube equipment and produce vacuum.In order to make vacuum pump obtain the operating performance close, just need a hutch and/or a vacuum pump with large-size with conventional hair-dryer motor 226.

Fig. 5 and Fig. 6 show the details according to the air connecting box 229 of principle formation of the present invention and operation, and Fig. 7 shows an embodiment of the connecting rod that can be used for its operation.More particularly, box 229 comprises a shell 504, and it has an air intake opening 506 that links to each other with flexible pipe 220 and a gas outlet 508 that links to each other with hair-dryer motor 226 by flexible pipe 235.As previously described, hair-dryer motor 226 produces a negative pressure (promptly, inspiratory force), this air pressure passes shell 504 in order to producing inspiratory force on pick-up head 224 through port 506 and 508, thereby allows pick-up head 224 and to need the article loosely of processing to be connected.Described according to an aspect of the present invention, the inside of air connecting box 229 comprises a pneumatic sensor structure 600 (being shown specifically) in Fig. 6, and its outside comprises a vacuum brake mechanism 500.Vacuum brake mechanism 500 comprises the baffle mechanism 510 of a rotation, and it is positioned at the top of shell 504.Baffle plate 510 comprises a foam seal spare 512, and it aligns attached to the downside of baffle plate 510 and with it, thereby has covered the aperture 514 (more clearly illustrating in Fig. 6) in the shell 504.Baffle plate 510 comprises that towards last lateral parts, pivot 515 passes wherein, and when an end of a pitman arm 516 is depressed tab portion 518 of baffle plate 510, baffle plate 510 will rotate up around it.When baffle plate 510 rotated up, hole 614 was exposed under the atmospheric environment, caused the quick forfeiture of vacuum in the flexible pipe 220 (that is inspiratory force) thus.In illustrated embodiment, pitman arm 516 is around rotating with the linkage assembly 624 contacted pivots 520 that are arranged in Qianmen (Fig. 1 14).Linkage assembly 724 has been shown among Fig. 7.

Can be clear that more from Fig. 6, comprise a pneumatic sensor structure 600 in the shell 504, it can produce a signal that can change with the air-flow degree of air hose 220 inside.In illustrated embodiment, pneumatic sensor structure 600 comprises two parts switch, first comprises a reed switch 602 that is installed on shell 504 tops, second portion comprises the magnet 604 on the free end that is installed in swing arm 606, the operation of this swing arm meeting very near switch 602 time " triggering " switch 602.Swing arm 606 responds air-flows and swing (seeing arrow 610) around axle 608, is flapped toward port 508 from port 506 by shell 504.During air blast, swing arm 606 is maintained at the direction of basic horizontal, makes magnetic head 604 and switch 6,020 minutes approaching thus, and reed switch 602 is in the close position.Preferably air reflecting plate 612 and 614 is contained in the shell 504, with guarantee to make swing arm 606 during the variations in flow (it may commodity pick-up head 224 with wait that the article of being sold occur before producing enough excellent contact) enough height that can rise to be to finish the proper operation of reed switch 602

Before pick-up head 224 touched commodity packaging, the air blast of process shell 504 can make swing arm 606 essentially horizontally swing, thereby makes reed switch 602 closures.After pick-up head 224 touches article, the surface of article will stop the air intake that enters pick-up head 224.This will cause sharply reducing of shell 504 interior air-flows.The reducing of this air-flow will cause swing arm 606 to lower swing, and reed switch 602 is opened, and then send signal to control system 400.This signal indication pick-up head 224 has produced with article and has firmly contacted, and can begin to make 410 counter-rotatings of flexible pipe (Z) drive motor and activate X and Y drive motor 408, thereby article are removed and be discharged into the dispensing district from the Storage.But the signal that reed switch 602 is produced also Be Controlled system 400 is used for the conveyer 218 that arrives an accurate known location (for example, one " virtual original position " (virtual home)) is checked.In case conveyer 218 arrives the tram of sending objects, its forward position will drive the connecting rod 724 among Fig. 7, and connecting rod 724 links to each other with quick air release valve door and drives its work.Notice that in shell 504, the snap-out release of vacuum will cause reed switch 602 that a signal (because article no longer stop the air-flow that enters flexible pipe 220) is provided once more, this signal can be used for being sold to control system 400 expression article.Therefore, this signal can be used to close hair-dryer motor 226 and start the position that conveyer 218 is back to its " original position ".

Notice that reed switch 602 can be Chang Kai or normally closed type, in other embodiments, reflecting plate 612 and 614 also can not need can need.In addition,, also can adopt the sensor of other type to indicate moving of swing arm 606 though in illustrated embodiment, adopted the switch element of magnetic reed switch as pneumatic sensor 600, as, capacitive character or inductive sensor/switch structure.In addition, also can design the physical construction of other type so that the part of pneumatic sensor is mobile in shell 504, for example, the swing arm of being made by enough soft material 606 can respond the variation of air-flow and move, just as linking to each other with shell 504 by rotating shaft.

According to another aspect of the present invention, because control system keeps following the tracks of (for example moving of flexible pipe 220 and conveyer 218, by detecting) from being positioned at the shaft encoder on each drive motor or the pulse of other distance measuring equipments, the signal that is produced by reed switch 602 when conveyer 218 arrives virtual original position can be used as one and check signal, to guarantee that control system 400 can accurately be counted the motor-driven pulse, and under the situation of needs, also can recalibrate this positioning system according to this virtual original position.

In addition, should note, lose the electric signal that contacts with magnetic head 504 from the representative swing arm 506 of reed switch 602 and also can be provided for control system 400, with as one be used for representing conveyer 218 arrived in the machine 10 the precalculated position (promptly, the position that it is the most forward) electric signal can improve the precision by the position control of 400 pairs of conveyers 218 of control system thus.

As shown in Figure 7, door 14 the top along automatic vending machine 10 is equipped with a door connecting rod 724.Connecting rod 724 comprises: be fixed on the first U-shaped support 723 of door on 14, be fixed on the second U-shaped support 725 on the support 723, and pivot arm parts 726, it rotates around axle 728, and axle 728 is supported by the reverse side of support 725.One end of arm 726 has a compliant member 730, and when conveyer 218 placed commodity to be sold commodity to fetch the top of district and chute 210, elastomeric element 730 can contact (as shown in Figure 1) with the forward position of conveyer 218.The opposite end 732 of arm 726 comprises a pad 733, and it is used for contacting with the part 534 of connecting rod 516 shown in Figure 5, and this part is given prominence to and passed a hole (not illustrating especially) that is positioned at support plate 202 tops (as shown in Figure 2).

Note, comprise a torsion spring (not shown) on the axle 728, it makes arm 726 biasings, thereby end 732 is normally separated with the part 534 of connecting rod 516.In addition, should also be noted that when the commodity of preparing to select when conveyer 218 are released into chute 210 that compliant member 730 is used to provide some extended-travels or tolerance limit in the forward location in the forward position of conveyer 218.

In operation, when conveyer has placed commodity to be sold when getting thing district or chute 210, its forward position will touch the end 730 of arm 726, the end 534 that arm 726 is rotated and make the other end 732 order about connecting rod 516 advances near the pivot 22, and then depress the tab portion 518 of baffle plate 510, and make foam seal 512 rise on the hole 614 in the shell 504 and no longer sealing.Hole 614 packing less pure effects are to make the air pressure in the shell 504 reach balanced rapidly, thereby cause the rapid forfeiture of the inspiratory force of pick-up head 224, and then cause commodity 223 to be released into the client rapidly fetching in the chute 210.

Illustrated embodiment is an example in the particular, also should be considered to predictable to its substantial modifications and conversion.For example, in another embodiment, connecting rod 516 and sealing 512/ baffle plate 510 can be integrated with a mechanism, and in this mechanism, connecting rod 516 will cause hermetic unit on the connecting rod 516 to lose sealing to the aperture in the shell 504 around pivot 520 rotations.For example, connecting rod 516 can be placed with its forward position is rotated along the side slip of shell 504 rather than towards its top.In an alternative, connecting rod 516 slides along a side of shell 504, the side of connecting rod 516 can be meshed and be sealed on the aperture of shell 504 1 sides, and like this, the rotation that it is ordered about by door connecting rod 724 can directly make the aperture on shell 504 1 sides lose sealing.

Another alternative also should be considered, for example, and different types of linkage assembly 724.Such embodiment can comprise the rod of a horizontal positioned, and it contains a straight ends branch to form one " crank ".The end that conveyer contacts this rod can make it produce rotation, rather than in the rotation of using under connecting rod 724 situations.The other end of rod is partly installed corresponding mode and is rotated, thereby depresses the tab portion 518 of baffle plate 510, and commodity are fast released.Can contain a baffle plate 510 that is directly driven by solenoid among another embodiment, when sensor arrived suitable forward position to conveyer, it can be activated.In these alternate embodiments, increase and decrease and to realize specific advantage.For example, door connecting rod 724 can be installed by the top along the front portion of automatic vending machine cabinet 12, rather than is installed on the door 14.But perhaps this is not a preferred positions because it might perturbation operation person to the automatic vending machine cabinet inside work of product filled again.These and other modification all is considered to be included within the scope of the present invention.

In addition, before the bottom that product has been moved to product delivery chute 210 up to pick-up head, do not need under the situation of snap-out release commodity, need a kind ofly to be different from aforementioned connecting rod shown in Figure 7 and to be different from the device that is used for activating snap-out release that can perception conveyer 218 have alignd yet near switch with chute 210.In this embodiment, the snap-out release valve can respond additional moving of conveyer 218 and be activated.For example, can adopt a forward that replaces being transported device 218 through the connecting rod of revising 724 to move the connecting rod 724 of activation, the level (left side/right side) that this amended connecting rod need be transported device moves and activates.Moving horizontally of this conveyer can be carried out after pick-up head arrives chute 210 bottoms at once.

As mentioned above, the present invention by provide for control gear be used for representing shown in the electric signal that changes of inspiratory force on the free end of flexible pipe, thereby all foregoing advantages are provided, for example:

1. encourage a mechanism so that its according to than in pick-up head, discharge gradually inspiratory force faster mode discharge commodity;

2. activate relief valve and need not independent circuit;

3. the technology that low-cost and high reliability and fault-tolerance are provided is to be used for determining whether product or is still clamped;

4. provide feedback information working properly for system controller to show suction mechanism;

5. low cost and reliable sensors are provided, and it relatively is not subjected to the typical voltage fluctuation that occurred during the equipment normal running and the interference of variations in flow.

Containing such as the chest freezer that various doors are arranged on it (as United States Patent (USP) 5,240, in the commodity publishing device of the congealer type ice cream vending machine described in 139), by be used for producing, perception and/or keep the method and apparatus of the inspiratory force on the clamp end of inhaling hose to be used in combination, described herein many advantages of the present invention will become particularly useful.

Though diagram of the present invention and explanation are carried out with reference to its preferred embodiment, but those skilled in the art should be understood that, within by the subsidiary defined the spirit and scope of the present invention of claim, can carry out on the various forms or the modification of detail to the present invention.In fact, many such modifications have been mentioned in this article.One of ordinary skill in the art will recognize that or utilize normal experiment just can grasp the equivalent of a plurality of specific embodiments of the present invention.For example, though disclose a kind of baffle plate that can respond variations in flow in an embodiment of the present invention, the mechanism that also can adopt other as " floating " device of other types, as table tennis, also is possible; Perhaps or even device that can the actual measurement air-flow, as air driven turbine.These equivalents are included within the scope of claim too.

Claims (20)

1. commodity distribution equipment comprises:

The wareroom district;

The commodity grasping mechanism;

Detent mechanism with described commodity grasping mechanism connection, being used for controllably position with described commodity grasping mechanism is adjusted into and aims at the given commodity that are kept in the described Storage, and be used for controllably contacting and extract the described commodity in the described Storage, the position of controllably adjusting described commodity grasping mechanism then is to transport described commodity to and to provide and deliver relevant position, district;

Control gear is used to control the operation of described commodity grasping mechanism and described detent mechanism; And

With the quick release device of described commodity grasping mechanism mechanical connection, the Mechanical Contact that responds described detent mechanism is operated, and described operation impels by the described commodity snap-out release of described commodity grasping mechanism control to relevant position, described and described dispensing district.

2. the described commodity distribution equipment of claim 1, also comprise mechanical linkage, one end of described mechanical linkage is suitable for when described commodity are transported to the described position relevant with described dispensing district and described detent mechanism Mechanical Contact, and described mechanical linkage also has the other end that is suitable for operating described quick release device.

3. the described commodity distribution equipment of claim 1, wherein said quick release device comprises airtight relatively housing, between first and second input ends of described housing pneumatic hookup is arranged, described first input end is connected with described commodity grasping mechanism, and described second input end links to each other with source of suction.

4. the described commodity distribution equipment of claim 3, wherein said source of suction comprises the hair-dryer motor, with the air-flow that relatively small amount is provided but the vacuum pump of relative high negative pressure compare, but this hair-dryer motor provides a large amount of relatively air-flows moderate relatively negative pressure.

5. the described commodity distribution equipment of claim 3, wherein said housing also comprises airflow control mechanism, is used to allow air to flow into described housing fast, so that pending commodity snap-out release.

6. the described commodity distribution equipment of claim 5, wherein said airflow control mechanism comprises:

Be arranged in the opening of described housing, and

Releasable airtight mechanism is used for sealing fully the described opening in the described housing so that air can not be from wherein passing through, thereby and can be operated selectively to discharge described sealing and allow air from wherein passing through.

7. the described commodity distribution equipment of claim 6, wherein said airflow control mechanism also comprises mechanical linkage, one end of described mechanical linkage is suitable for when described commodity are transported to relevant position, described and described dispensing district and described detent mechanism Mechanical Contact, and described mechanical linkage also has the other end that is suitable for operating described releasable airtight mechanism when described commodity are transported to described position.

8. commodity distribution equipment comprises:

The wareroom district;

The commodity grasping mechanism;

Detent mechanism with described commodity grasping mechanism connection, being used for controllably position with the commodity grasping mechanism is adjusted into and aims at the given commodity that are kept in the described Storage, and be used for controllably contacting and extract the described commodity in the described Storage, the position of controllably adjusting described commodity grasping mechanism then is to be transported to described commodity and to provide and deliver relevant position, district;

Control gear is used to control the operation of described commodity grasping mechanism and described detent mechanism; And

With the quick release device that described commodity grasping mechanism connects, be used to impel described commodity snap-out release to arrive the described position relevant with described dispensing district by described commodity grasping mechanism control, wherein:

Described quick release device comprises releasable airtight mechanism, be used for fully sealed open so that air can not be from wherein passing through, thereby and can be operated selectively to discharge described airtight mechanism and allow air from wherein passing through, described airtight mechanism is bound up between described commodity grasping mechanism and the source of suction by pneumatic;

Wherein, described source of suction comprises the hair-dryer motor, with the air-flow that relatively small amount is provided but the vacuum pump of relative high negative pressure compare, but described hair-dryer motor provides a large amount of relatively air-flows moderate relatively negative pressure.

9. the described commodity distribution equipment of claim 8, wherein said quick release device comprises airtight relatively housing, described housing has the pneumatic hookup between first and second input ends, described first input end and described commodity grasping mechanism connect, and described second input end and described source of suction connect.

10. the described commodity distribution equipment of claim 9, also comprise mechanical linkage, one end of described mechanical linkage is suitable for contacting with described detent mechanism when described commodity are sent to the described position relevant with dispensing district, and described mechanical linkage also has the other end that is suitable for operating described releasable airtight mechanism when described commodity are sent to described position.

11. commodity distribution equipment comprises:

Shell has been determined inner storage cavity therein, and has the passage that leads to commodity transmission mouth;

Be positioned at the goods shelf of described internal cavities, be used to deposit a plurality of optional commodity to be distributed;

Commodity grasp and travel mechanism, be used for controllably grasping selected commodity in described wareroom district, and described commodity are moved to described passage from described Storage;

With the source of suction that described commodity grasp and travel mechanism connects, be used to provide the negative pressure that grasps described selected commodity needs;

Control gear is used to control the operation of described commodity extracting and travel mechanism; And

With the quick release device that described commodity grasp and travel mechanism connects, be used to make described commodity snap-out release by described commodity grasp and travel mechanism controls, described release occurs in a point along described passage, wherein:

Described source of suction connects with the hair-dryer motor that produces described negative pressure, after described hair-dryer motor is activated, described hair-dryer motor produces and enough grasps the negative pressure of described selected commodity and offer described source of suction, described hair-dryer motor is kept in the certain hour section to described source of suction when no longer activating described enough negative pressures is provided, and

Described quick release device is operated, when described extracting and travel mechanism move to described selected commodity along described passage described, to change to the amount that is not enough to catch described selected commodity fast with the negative pressure of described commodity extracting and travel mechanism, the change of described negative pressure occurred in a period of time less than described preset time of section, thus make crawled commodity described preset time section be released before finishing.

12. the described commodity distribution equipment of claim 11, wherein said quick release device and described commodity grasp and travel mechanism connects, and comprise airflow control mechanism, thereby enter described pneumatic hookup to allow surrounding environment air pressure to enter described shell fast.

13. the described commodity distribution equipment of claim 11, wherein said quick release device comprises:

Airtight relatively housing, pneumatic being bound up between described commodity extracting and travel mechanism and the described source of suction; And

Releasable airtight mechanism is used for the opening mechanical seal fully with described housing, so that ambient air can not be from wherein passing through, thereby and can be operated selectively to open described opening and allows air from wherein passing through.

14. the described commodity distribution equipment of claim 11, wherein, with the air-flow that relatively small amount is provided but the vacuum pump of relative high negative pressure compare, but described hair-dryer motor provides a large amount of relatively air-flows moderate relatively negative pressure.

15. the described commodity distribution equipment of claim 11, also comprise mechanical linkage, one end of described mechanical linkage is suitable for when described crawled commodity are sent to along passage described and described commodity grasp and travel mechanism's Mechanical Contact, described mechanical linkage also has other end, be suitable for operating described quick release device to being made a response by an end of described commodity extracting and travel mechanism's Mechanical Contact.

16. the described commodity distribution equipment of claim 13, also comprise mechanical linkage, one end of described mechanical linkage is suitable for grasping with described commodity when described crawled commodity are sent to along passage described and travel mechanism contacts, described mechanical linkage also has other end, be suitable for operating described releasable airtight mechanism to being made a response by an end of described commodity extracting and travel mechanism's Mechanical Contact.

17. the described commodity distribution equipment of claim 13, wherein said housing comprise input end, output terminal and the pneumatic hookup between the two, described input end and the pneumatic connection of described source of suction, described output terminal and the pneumatic connection of described commodity grasping mechanism.

18. commodity distribution equipment comprises:

The wareroom district is used for storing a plurality of commodity along its depth, the overlapping placement of at least some described commodity, thus provide the depth position for the commodity of the top layer that is arranged in described Storage one row commodity;

The air-breathing flexible pipe of keeping, it has first end that is suitable for contacting and extracting chosen commodity in the Storage, and second end that connects with source of suction;

Flexible pipe detent mechanism with the flexible pipe mechanical connection, be used for controllably position with described first end of described flexible pipe be adjusted into be kept at described Storage in the commodity of specific top layer align, and be used for controllably contacting and being extracted in the commodity of the described top layer in the described Storage, controllably adjust the position of first end of described flexible pipe then, described commodity are transported to and the relevant position, district of providing and delivering;

Control gear is used to control the operation of described source of suction and described flexible pipe detent mechanism; And

Sensor with the pneumatic connection of described flexible pipe, be used for providing the electric signal of the variation that the suction of described first end of the described flexible pipe of representative takes place to described control gear, described control gear described first end of described flexible pipe and the commodity of top to be extracted produce contact before the described source of suction of startup, described sensor detects the variation of suction when described first end of described flexible pipe engages with the commodity of described top, the suction of described detection changes the depth position of commodity of described top that is used for judging described row commodity of described Storage by described control gear.

19. changing by described control gear, the described commodity distribution equipment of claim 18, the suction of wherein said detection is used for safeguarding lastest imformation about the commodity of a plurality of tops in the corresponding a plurality of row that are stored at described Storage.

20. the described commodity distribution equipment of claim 19, the wherein said lastest imformation that is listed as about the described commodity that are stored at described Storage is used for controlling the operation of described flexible pipe detent mechanism by described control gear.

Images