CN107958543B - Automatic get cargo aircraft - Google Patents
Automatic get cargo aircraft Download PDFInfo
- Publication number
- CN107958543B CN107958543B CN201711336667.9A CN201711336667A CN107958543B CN 107958543 B CN107958543 B CN 107958543B CN 201711336667 A CN201711336667 A CN 201711336667A CN 107958543 B CN107958543 B CN 107958543B
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- goods
- manipulator
- brackets
- turntable
- horizontal
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/46—Coin-freed apparatus for dispensing, or the like, discrete articles from movable storage containers or supports
- G07F11/50—Coin-freed apparatus for dispensing, or the like, discrete articles from movable storage containers or supports the storage containers or supports being rotatably mounted
- G07F11/54—Coin-freed apparatus for dispensing, or the like, discrete articles from movable storage containers or supports the storage containers or supports being rotatably mounted about vertical axes
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to an automatic goods taking machine. The goods taking machine comprises a rotary goods containing rack and a manipulator with two degrees of freedom; the goods holding rack comprises a horizontal rotary table, more than two mutually parallel support rods are vertically arranged above the rotary table, more than two horizontal brackets are sleeved on each support rod, the number of the brackets on each support rod is the same, and two adjacent brackets on two adjacent support rods and arranged on the same horizontal plane are used for simultaneously holding the same goods; the manipulator is used for getting goods and shipment, and the manipulator is established directly over the central point of carousel, and one degree of freedom of manipulator is translation from top to bottom along bracing piece length direction, and another degree of freedom is along radial horizontal translation of carousel. The goods taking machine has the advantages that the goods storage quantity is increased, the functions are enhanced, the use convenience is improved, meanwhile, the mechanical arm is additionally arranged, and the goods taking is convenient.
Description
Technical Field
The invention relates to vending machinery, in particular to an automatic goods taking machine.
Background
Vending machines, automatic meal dispensers or vending machines are machines that can automatically pay or take meals based on money placed or paid on-line. The vending machine is a common commercial automation device, is not limited by time and place, and can save manpower and facilitate transaction. Is a brand new form of commercial retail, also known as a 24 hour open supermarket. Currently, domestic common vending machines are divided into four types: beverage vending machine, food vending machine, all-in-one vending machine, and cosmetics vending machine. The conventional automatic vending machine is internally provided with a goods shelf, the goods shelf is provided with a plurality of layers, each layer is provided with a plurality of columns, each column is composed of goods places which are arranged front and back, and when the goods shelf structure stores goods with larger volume, such as meal boxes, the goods shelf structure is small in storage quantity and inconvenient to store, and meanwhile, a mechanism for taking the goods is inconvenient to take out the goods with larger volume, so that the goods shelf structure needs to be improved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an automatic goods taking machine which increases the goods storage quantity and is convenient for storing and taking out cutlery boxes/goods.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an automatic goods taking machine comprises a rotary goods containing rack and a manipulator with two degrees of freedom; the goods holding rack comprises a horizontal rotary table, more than two mutually parallel support rods are vertically arranged above the rotary table, more than two horizontal brackets are sleeved on each support rod, the number of the brackets on each support rod is the same, and two adjacent brackets on two adjacent support rods and arranged on the same horizontal plane are used for simultaneously holding the same goods; the manipulator is used for getting goods and shipment, and the manipulator is established directly over the central point of carousel, and one degree of freedom of manipulator is translation from top to bottom along bracing piece length direction, and another degree of freedom is along radial horizontal translation of carousel.
Further, the goods holding rack further comprises a driving device for driving the turntable to rotate on the horizontal plane, the driving device is arranged below the turntable and comprises a motor and a speed reducer, the motor drives an input shaft of the speed reducer through a belt or a coupling, and an output shaft of the speed reducer is vertically and fixedly connected with the middle position of the turntable.
Further, the manipulator comprises a vertical screw rod mechanism and a horizontal screw rod mechanism, wherein the vertical screw rod mechanism is used for driving the horizontal screw rod mechanism to reciprocate up and down, and a horizontal supporting plate for supporting goods is fixed on a nut of the horizontal screw rod mechanism.
Further, the manipulator is also provided with a goods detection sensor and a goods in-place detection sensor.
Further, 10 support rods are arranged and evenly distributed annularly around the rotating shaft of the turntable; the support rod surrounds the periphery of the manipulator. At least 1 bracket in the brackets on each supporting rod is a goods taking bracket, and the goods taking brackets of all the supporting rods are arranged on the same horizontal plane.
Further, get goods bracket includes the A style of calligraphy board, and the bracing piece passes A style of calligraphy board intermediate position, and the opening of A style of calligraphy board is facing away from the axis of rotation of carousel, and the both sides of A style of calligraphy board are equipped with two and form the passageway that link up around the acute angle contained angle, and the goods passageway is constituteed to the adjacent passageway of two adjacent A style of calligraphy boards on the horizontal plane.
Further, at least 1 of the brackets on each support bar is an inventory bracket; the stock bracket is A-shaped, the support rod passes through the middle position of the stock bracket, the opening of the stock bracket faces away from the rotating shaft of the turntable, stock groove positions are respectively arranged on two sides of the stock bracket, and stock groove positions of two adjacent stock brackets on the horizontal plane form a stock position.
Further, a circular plate is arranged above the storage rack, the center of the circular plate is overlapped with the rotating shaft of the turntable, and the top of each supporting rod is fixedly connected to the circular plate.
Further, at least three rollers for fixing the positions of the annular plates are uniformly distributed on the outer edges of the annular plates, the rollers are propped against the outer edges of the annular plates, and the rollers and the annular plates synchronously rotate.
Compared with the prior art, the invention has the beneficial effects that:
the storage rack is made into a rotary type, so that the storage rack can conveniently store large-size cutlery boxes, commodities and the like, meanwhile, the space of the whole equipment is fully utilized, the storage quantity is increased, the functions are enhanced, the use convenience is improved, and the market demand is met. Meanwhile, the mechanical arm is arranged in the middle of the goods containing shelf, each row of the goods containing shelf is provided with a goods taking outlet, when goods are listed as goods, the mechanical arm can directly take goods from the single-row goods outlet, actions of rotating again to find the single goods taking outlet are reduced, the period of taking the goods is shortened, the queuing waiting phenomenon of consumers is improved, and the customer experience is enhanced.
Drawings
Fig. 1 is an assembled perspective view of the automatic picker of the present invention.
Fig. 2 is a perspective view of a storage rack according to the present invention.
FIG. 3 is an enlarged view of a portion of a carrier in accordance with the present invention.
Fig. 4 is a perspective view of the robot of the present invention.
Fig. 5 is an enlarged view of area a of fig. 4.
Detailed Description
In order to more fully understand the technical content of the present invention, the technical solution of the present invention will be further described and illustrated with reference to specific embodiments.
The specific structure of the automatic cargo picker of this embodiment is shown in fig. 1-5.
As shown in fig. 1, the automatic picker includes a machine table 90, a rotary loading rack 100, and a robot 80 with two degrees of freedom. Cheng Huojia 100 and the manipulator 80 are both arranged in the machine 90, and the manipulator 80 is arranged in the goods shelf 100. The machine 90 is of a frame structure, and a pulley 91 is arranged below the machine 90, so that the machine is convenient to move.
As shown in fig. 2, the storage rack 100 includes a horizontal turntable 10, a driving device 20 for driving the turntable 10 to rotate on a horizontal plane, and an upper annular plate 34. In this embodiment, the goods are cutlery boxes or merchandise.
As shown in fig. 2, the driving device 20 is provided directly below the turntable 10. In the present embodiment, the driving device 20 includes a motor 21 and a decelerator 23. The motor 21 drives the input shaft 231 of the speed reducer 23 through the belt 22, and the output shaft 232 of the speed reducer 23 is vertically and fixedly connected with the middle position of the turntable 10. The speed reducer 23 adopts a worm gear speed reducer. In other embodiments, the motor may drive the decelerator through a coupling.
As shown in fig. 2, more than two support rods 33 are erected above the turntable 10 and parallel to each other, in this embodiment, 10 support rods 33 are uniformly distributed in a ring shape around the rotation axis of the turntable 10, and 10 support rods 33 are around the periphery of the manipulator 80. More than two horizontal brackets 30 are sleeved on each supporting rod 33, the number of the brackets 30 on each supporting rod 33 is the same, and the brackets 30 are fixed on the supporting rods 33 through clamping. Two adjacent brackets 30 provided on the same horizontal plane on the adjacent two support rods 33 serve to hold the same cargo at the same time. In this embodiment, 13 brackets 30 are sleeved on each support rod 33, wherein one bracket 30 is a picking bracket 32, and the other 12 brackets 31 are stock brackets.
As shown in fig. 2 and 3, in particular, the pickup brackets 32 of all the support bars 33 are disposed on the same horizontal plane, so that the pickup brackets 32 can be brought to the pickup port (not shown) of the upper external machine regardless of the position to which the loading rack 100 is rotated. In this embodiment, the goods taking bracket 32 includes an a-shaped plate 321, the supporting rod 33 passes through the middle position of the a-shaped plate 321, and the opening of the a-shaped plate 321 faces away from the rotating shaft of the turntable 10. Two sides of the A-shaped plate 321 are provided with two channels 322 which form an acute angle and are communicated front and back, the adjacent channels 322 of the two adjacent A-shaped plates 321 on the horizontal plane form a goods taking channel 323, and goods can be directly pushed out from the goods taking channel 323 by the manipulator 80, namely, the goods can directly pass through the goods taking channel 323.
As shown in fig. 2 and 3, in particular, the stock carrier 31 has an a-shape, the support rod 33 passes through the intermediate position of the stock carrier 31, and the opening of the stock carrier 31 faces away from the rotation axis of the turntable 10. The stock slots 311 are respectively arranged on two sides of the stock brackets 31, and the stock slots 311 of two adjacent stock brackets 31 on the horizontal plane form a stock position 312. When the goods are placed on the storage space 312, the goods are not separated from the stock brackets 31 due to centrifugal force when the goods are rotated by the goods containing shelf 100, and the situation that the goods fall off is avoided.
As shown in fig. 2, the center of the circular ring plate 34 above the loading rack 100 coincides with the rotation axis of the turntable 10, and the top of each support bar 33 is fixedly connected to the circular ring plate 34, so that the turntable 10, the support bar 33 and the circular ring plate 34 all rotate at the same time. The function of the annular plate 34 is to fix the top of the support rod 33, so as to avoid the support rod 33 from being stressed to generate lateral deviation. In addition, 4 rollers 35 for fixing the position of the annular plate 34 are uniformly distributed on the outer edge of the annular plate 34 in this embodiment, the rollers 35 and the outer edge of the annular plate 34 are propped against each other, and the rollers 35 and the annular plate 34 rotate synchronously. Meanwhile, the center shaft of each roller 35 is fixedly connected with the machine table 90 (fig. 1) through a corner plate 36, so that the center shaft of the roller 35 is fixed, and the roller 35 can rotate around the center shaft.
As shown in fig. 1, the robot 80 is used for picking and discharging, and the robot 80 is disposed right above the center of the turntable 10. In operation, the picker of the present embodiment is such that the robot 80 is generally stationary and does not follow the rotation of the turntable 10.
One of the degrees of freedom of the robot 80 is translation up and down along the length of the support bar 33, and the other degree of freedom is translation horizontally along the radial direction of the turntable 10. Specifically, as shown in fig. 4 and 5, the robot 80 includes a vertical screw mechanism 70 and a horizontal screw mechanism 60. The vertical screw mechanism 70 is used to drive the horizontal screw mechanism 60 to reciprocate up and down. The top end of the vertical screw mechanism 70 is fixedly connected with the machine table 90, so that the vertical screw mechanism 70 is prevented from being deviated. The driving motor 71 of the vertical screw mechanism 70 drives the screw (not shown) to rotate, the screw driving nut 73 moves up and down along the vertical rail 72, a bearing plate 75 is fixed on the nut 73, and the horizontal screw mechanism 60 is fixed on the bearing plate 75. Meanwhile, a cargo detection sensor 76 is also fixed on the nut 73, and the cargo detection sensor 76 is arranged above the horizontal screw mechanism 60. The carrier plate 75 is also fixed with a load in-place detection sensor 77, and the load in-place detection sensor 77 is provided at a position on the rear side of the horizontal screw mechanism 60.
Specifically, as shown in fig. 4 and 5, the driving motor 61 of the horizontal screw mechanism 60 drives the screw (not shown) to rotate, the screw driving nut 62 translates along the horizontal rail 63 in the horizontal plane, and a horizontal pallet 64 for supporting the cargo is fixed to the nut 62. The front end of the horizontal pallet 64 is provided with two small baffles 641, a large baffle 642 is arranged in the middle of the horizontal pallet 64, and a cargo bearing area is arranged between the small baffles 641 and the large baffles 642.
Goods taking principle of automatic goods taking machine: cheng Huojia 100 the rotation of the rack until the rack in the row corresponds to the port, then the manipulator 80 drives the horizontal pallet 64 to move to the position where the goods are to be picked, the horizontal pallet 64 supports the goods to be picked, then the horizontal pallet 64 supports the goods to be picked to be placed in the position of the rack 32, and finally the horizontal pallet 64 pushes the goods to be picked out of the port to finish the goods picking.
The foregoing description is provided to illustrate the technical contents of the present invention by way of example only, so that the reader can easily understand the technical contents, but it is not intended to limit the embodiments of the present invention thereto, and any technical extension or re-creation according to the present invention is protected by the present invention.
Claims (7)
1. An automatic goods taking machine is characterized by comprising a rotary goods containing rack and a manipulator with two degrees of freedom; the goods holding rack comprises a horizontal rotary table, more than two mutually parallel support rods are vertically arranged above the rotary table, more than two horizontal brackets are sleeved on each support rod, the number of the brackets on each support rod is the same, and two adjacent brackets on two adjacent support rods and arranged on the same horizontal plane are used for simultaneously holding the same goods; the manipulator is used for taking and delivering goods, the manipulator is arranged right above the center position of the turntable, one degree of freedom of the manipulator is vertical translation along the length direction of the support rod, and the other degree of freedom is horizontal translation along the radial direction of the turntable;
at least 1 bracket in the brackets on each supporting rod is a goods taking bracket, and the goods taking brackets of all the supporting rods are arranged on the same horizontal plane; the goods taking bracket comprises an A-shaped plate, the supporting rod penetrates through the middle position of the A-shaped plate, an opening of the A-shaped plate faces away from a rotating shaft of the turntable, two sides of the A-shaped plate are provided with two channels which form an acute angle and penetrate through front and back, and the adjacent channels of the two adjacent A-shaped plates on the horizontal plane form a goods taking channel;
at least 1 of the brackets on each support rod is an inventory bracket; the stock bracket is A-shaped, the support rod passes through the middle position of the stock bracket, the opening of the stock bracket faces away from the rotating shaft of the turntable, stock groove positions are respectively arranged on two sides of the stock bracket, and stock groove positions of two adjacent stock brackets on the horizontal plane form a stock position.
2. The automatic picker according to claim 1, wherein the goods holding rack further comprises a driving device for driving the turntable to rotate on a horizontal plane, the driving device is arranged below the turntable, the driving device comprises a motor and a speed reducer, the motor drives an input shaft of the speed reducer through a belt or a coupling, and an output shaft of the speed reducer is vertically and fixedly connected with the middle position of the turntable.
3. The automatic picker according to claim 1, wherein the manipulator comprises a vertical screw mechanism for driving the horizontal screw mechanism to reciprocate up and down, and a horizontal pallet for supporting the goods is fixed to a nut of the horizontal screw mechanism.
4. The automated picker of claim 3, wherein the manipulator is further provided with a cargo detection sensor and a cargo in-place detection sensor.
5. The automated picker according to claim 1 wherein the support bars have 10 bars and are evenly distributed in a ring shape around the rotational axis of the turntable; the support rod surrounds the periphery of the manipulator.
6. The automatic picker according to claim 1, wherein a circular plate is arranged above the goods shelf, the center of the circular plate is coincident with the rotating shaft of the turntable, and the top of each supporting rod is fixedly connected to the circular plate.
7. The automatic picker according to claim 6, wherein the outer edges of the circular plates are uniformly provided with at least three rollers for fixing the positions of the circular plates, the rollers are abutted against the outer edges of the circular plates and synchronously rotate with the circular plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711336667.9A CN107958543B (en) | 2017-12-14 | 2017-12-14 | Automatic get cargo aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711336667.9A CN107958543B (en) | 2017-12-14 | 2017-12-14 | Automatic get cargo aircraft |
Publications (2)
| Publication Number | Publication Date |
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| CN107958543A CN107958543A (en) | 2018-04-24 |
| CN107958543B true CN107958543B (en) | 2023-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711336667.9A Active CN107958543B (en) | 2017-12-14 | 2017-12-14 | Automatic get cargo aircraft |
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| CN109461259A (en) * | 2018-10-16 | 2019-03-12 | 浙江工业大学 | A kind of warehouse style packed meal automatic vending system with eccentric wheel apparatus |
| CN109615771B (en) * | 2018-10-16 | 2021-05-11 | 浙江工业大学 | Automatic selling system for horse race type box rice driven by discharging grooved wheels according to time sequence |
| CN109615775B (en) * | 2018-10-16 | 2021-06-15 | 浙江工业大学 | Warehouse type boxed meal automatic selling system capable of discharging goods according to time and provided with eccentric wheel device |
| CN109493520B (en) * | 2018-10-16 | 2021-06-29 | 浙江工商大学 | Grooved pulley drive type horse race type box meal vending system |
| CN109461265A (en) * | 2018-10-16 | 2019-03-12 | 浙江工商大学 | A kind of warehouse style packed meal automatic vending system of racetrack |
| CN109949487A (en) * | 2019-03-29 | 2019-06-28 | 潘洪卫 | Hoirzontally rotating automatic vending machine |
| CN110816383A (en) * | 2019-11-15 | 2020-02-21 | 上海海洋大学 | Goods taking track system of refrigerator car |
| CN111710100B (en) * | 2020-07-17 | 2022-05-06 | 平湖市华晟精密机械股份有限公司 | Automatic vending machine and using method thereof |
| CN111882750B (en) * | 2020-07-17 | 2021-12-28 | 平湖市华晟精密机械有限公司 | Vending machine with display function and use method thereof |
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| CN205555212U (en) * | 2015-12-20 | 2016-09-07 | 华南理工大学广州学院 | Stereoscopic warehouse goods shelves |
| CN106781020A (en) * | 2016-12-07 | 2017-05-31 | 江苏白雪电器股份有限公司 | Commodity sell/dispensing device |
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| AU2003254082A1 (en) * | 2002-07-23 | 2004-02-09 | Benchmark Entertainment Lc | Rotating vend mechanism |
| EP2057558A4 (en) * | 2006-08-07 | 2015-01-21 | Talyst Inc | Apparatus for tracking and dispensing refrigerated medications |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3001899U (en) * | 1994-03-10 | 1994-09-06 | 株式会社田窪工業所 | Rotating shelf |
| KR19980015829A (en) * | 1996-08-24 | 1998-05-25 | 박순재 | Horizontal stacking pallets (Pallet) |
| CN101462632A (en) * | 2007-12-20 | 2009-06-24 | 生宝生物科技股份有限公司 | Storing apparatus for storing and storage system thereof |
| CN203038367U (en) * | 2012-12-14 | 2013-07-03 | 深圳市富晶科技有限公司 | Vending machine with cage-type rotating discs |
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| CN205555212U (en) * | 2015-12-20 | 2016-09-07 | 华南理工大学广州学院 | Stereoscopic warehouse goods shelves |
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| Publication number | Publication date |
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| CN107958543A (en) | 2018-04-24 |
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