CN108305379B - Delivery device, control device thereof and self-service equipment - Google Patents
Delivery device, control device thereof and self-service equipment Download PDFInfo
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- CN108305379B CN108305379B CN201710019364.8A CN201710019364A CN108305379B CN 108305379 B CN108305379 B CN 108305379B CN 201710019364 A CN201710019364 A CN 201710019364A CN 108305379 B CN108305379 B CN 108305379B
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- Prior art keywords
- assembly
- limiting
- detection
- platform
- limiting plate
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F9/00—Details other than those peculiar to special kinds or types of apparatus
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B81/00—Cabinets or racks specially adapted for other particular purposes, e.g. for storing guns or skis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/02—Internal fittings
- B65D25/10—Devices to locate articles in containers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
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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
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention provides a delivery device, a control device and self-service equipment, which relate to the field of automatic machinery, and comprise a rack, a platform movably connected with the rack, and a centering mechanism arranged on the rack; the centering mechanism comprises a first limiting component and a second limiting component, the first limiting component comprises a first limiting plate, the second limiting component comprises a second limiting plate, the platform is arranged between the first limiting plate and the second limiting plate, the first limiting plate and the second limiting plate can synchronously move in the opposite direction and are close to the platform at the same time, and the article placed on the platform is centered. The delivery device provided by the invention relieves the technical problem that the articles in the related art are separated from the platform in the moving process due to the deflection when the articles are placed on the platform.
Description
Technical Field
The invention relates to the field of automatic machinery, in particular to a delivery device, a control device thereof and self-service equipment.
Background
With the development of society, self-service equipment such as self-service vending machine, self-service express delivery cabinet etc. is owing to have not receive the restriction in time, place, use manpower sparingly, characteristics such as convenient transaction, and the application is more and more extensive. Such a self-service device generally comprises a cabinet, a storage device arranged inside the cabinet, a delivery device, and a driving device, wherein an access opening is arranged on a surface of the cabinet, and the storage device comprises a plurality of cells for storing articles; the delivery device is used for delivering the articles between the access opening and the lattice opening, the driving device is used for driving the delivery device to move along the horizontal direction and/or the vertical direction so that the delivery device is opposite to the access opening or the lattice opening at the set position, when the delivery device is opposite to the access opening, the articles can be placed on the delivery device through the access opening, when the delivery device is opposite to the lattice opening at the set position, the delivery device can deliver the articles into the lattice opening, or after the delivery device takes out the articles in the lattice opening, the articles are delivered to the access opening.
The delivery device comprises a platform for supporting an article, a vertical moving mechanism for driving the platform to move in the up-down direction, and a horizontal moving mechanism for driving the platform to move in the front-back direction, when the delivery device is opposite to the access opening, a user places the article on the platform through the access opening, the driving device drives the delivery device to move so as to enable the delivery device to be opposite to the grid opening at a set position, the vertical moving mechanism drives the platform to move upwards to lift the article, then the horizontal moving mechanism drives the platform to be inserted into the grid opening, the vertical moving mechanism drives the platform to move downwards again to place the article on a supporting plate in the grid opening, and finally the horizontal moving mechanism drives the platform to retract. The problem with this delivery device is that since the item is manually placed on the platform by the user, the item may be placed at a position that is skewed with respect to the middle of the platform, and when the platform is moved in the up-down direction or the back-and-forth direction, the item may be separated from the platform by gravity, causing equipment malfunction.
Disclosure of Invention
The invention aims to provide a delivery device, a control device and self-service equipment, which are used for relieving the technical problem that an article is separated from a platform in the process of moving due to article placement deflection in the related art.
The invention provides a delivery device in a first aspect, which comprises a rack, a platform movably connected with the rack, and a centering mechanism arranged on the rack; the centering mechanism comprises a first limiting component and a second limiting component, the first limiting component comprises a first limiting plate, the second limiting component comprises a second limiting plate, the platform is arranged between the first limiting plate and the second limiting plate, the first limiting plate and the second limiting plate can synchronously move in the opposite direction and are close to the platform at the same time, and the article placed on the platform is centered.
Further, the delivery device further comprises a detection mechanism, wherein the detection mechanism comprises a first detection component and a second detection component; the first detection assembly is arranged on the first limiting assembly and used for detecting whether the first limiting plate is in contact with the article or not, and the second detection assembly is arranged on the second limiting assembly and used for detecting whether the second limiting plate is in contact with the article or not.
Further, the first detection assembly comprises a first sensor and a first detection part; the first sensor is fixedly connected with the first limiting assembly and used for detecting the position of the first detection part; the first detection part is connected with the first limiting component and has an initial position and a retracted position relative to the first limiting plate; when the first detection part is at the initial position, the first detection part extends out of the first limit plate; when the first detection part is in the retraction position, the first detection part retracts into the first limit plate;
the second detection component comprises a second sensor and a second detection part; the second sensor is fixedly connected with the second limiting assembly and used for detecting the position of the second detection part; the second detection part is connected with the second limiting component and has an initial position and a retracted position relative to the second limiting plate; when the second detection part is at the initial position, the second detection part extends out of the second limit plate; when the second detection part is in the retraction position, the second detection part retracts into the second limiting plate.
Furthermore, the first detection assembly further comprises a first rotating shaft, the first detection part is hinged with the first limiting assembly through the first rotating shaft, and the first detection part can rotate around the axis of the first rotating shaft so as to realize switching between an initial position and a retraction position; the second detection assembly further comprises a second rotating shaft, the second detection portion is hinged to the second limiting assembly through the second rotating shaft, and the second detection portion can rotate around the axis of the second rotating shaft to achieve switching between the initial position and the retraction position.
Further, the first detection assembly and the second detection assembly are symmetrically arranged around the platform.
Further, the centering mechanism also comprises a motor and a transmission assembly; the motor is fixed in the frame for drive transmission assembly drives first spacing subassembly and the synchronous reverse movement of second spacing subassembly.
Further, the transmission assembly comprises a transmission rod, a first transmission piece and a second transmission piece; the motor can drive the transmission rod to rotate around the axis of the transmission rod; the first transmission piece is fixedly connected with the first limiting assembly, and the second transmission piece is fixedly connected with the second limiting assembly; the two ends of the transmission rod are respectively provided with threads, the rotating directions of the threads are opposite, the first transmission piece is in threaded connection with one end of the transmission rod, and the second transmission piece is in threaded connection with the other end of the transmission rod.
Further, the transmission rod is in a shaft shape, threads at two ends of the transmission rod are respectively external threads, the first transmission piece and the second transmission piece are respectively in a barrel shape, and the threads of the first transmission piece and the threads of the second transmission piece are respectively internal threads; or the transmission rod is cylindrical, the threads at two ends of the transmission rod are internal threads respectively, the first transmission piece and the second transmission piece are both shaft-shaped, and the threads of the first transmission piece and the threads of the second transmission piece are external threads.
Furthermore, the transmission assembly is of a gear and rack transmission structure.
Further, centering mechanism still includes the direction subassembly, and the direction subassembly is connected with the frame for guide first limiting plate and second limiting plate respectively and remove along setting for the direction.
A second aspect of the present invention provides a control device for controlling the above-described delivery device, including a centering driving unit, a centering judging unit, and a centering stopping unit; the centering driving unit is used for controlling a motor of the delivery device to drive a first limiting plate and a second limiting plate of the delivery device to synchronously approach a platform of the delivery device; the centering judgment unit is used for detecting output signals of a first detection assembly of the delivery device and a second detection assembly of the delivery device, and judging that the article is placed on the platform in the middle when the first detection assembly outputs a detection signal that the first limiting plate is contacted with the article and the second detection assembly outputs a detection signal that the second limiting plate is contacted with the article; and the centering stopping unit is used for controlling the motor to stop rotating after the article is placed on the platform in the middle, so that the first limiting plate and the second limiting plate stop moving.
The invention provides self-service equipment in a third aspect, which comprises a cabinet, a storage device arranged in the cabinet, a driving device, the delivery device and the control device; the panel of the cabinet is provided with an access port; the delivery device is arranged between the storage device and the panel and used for delivering the articles put in from the access opening to the storage device or delivering the articles in the storage device to the access opening under the driving of the driving device.
The invention provides a delivery device, which comprises a rack, a platform movably connected with the rack and a centering mechanism arranged on the rack, wherein the platform is movably connected with the rack; the centering mechanism comprises a first limiting component and a second limiting component, the first limiting component comprises a first limiting plate, the second limiting component comprises a second limiting plate, the platform is arranged between the first limiting plate and the second limiting plate, and the first limiting plate and the second limiting plate synchronously move in the reverse direction and are close to the platform at the same time, so that an article placed on the platform is centered. Therefore, the delivery device provided by the invention avoids the problem that the article is separated from the platform due to the deflection of the article placed on the platform in the moving process of the platform.
Further, because the centering mechanism is provided with the detection mechanism, the first limiting plate and the second limiting plate can be detected to be in contact with the article, so that the first limiting plate and the second limiting plate can be controlled to stop moving in time, and the problem that the article is damaged by the clamping of the first limiting plate and the second limiting plate is avoided.
Drawings
FIG. 1 is a schematic structural diagram of a delivery device according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a delivery device according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a first detection assembly of a delivery device according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a delivery device according to another embodiment of the present invention;
FIG. 5 is a block diagram of a control device of a delivery device according to an embodiment of the present invention;
FIG. 6 is a schematic external view of a self-service device according to an embodiment of the invention;
FIG. 7 is a schematic diagram of the internal structure of a self-service device according to an embodiment of the invention.
In the figure: 1-a frame; 2-a platform; 3-a centering mechanism; 4-a detection mechanism; 11-left wall; 12-right wall; 13-a top wall; 15-a support plate; 16-a guide plate; 18-a support frame; 151-left support plate; 152-a right support plate; 161-left guide plate; 181-a first side panel; 182-a connecting plate; 183-second side plate; 31-a motor; 32-a transmission assembly; 33-a first stop assembly; 34-a second stop assembly; 321-a transmission rod; 322-a first transmission member; 323-a second transmission member; 324-a gear set; 331-a first support frame; 332-a first limiting plate; 341-second support frame; 342-a second restriction plate; 35-a first guide assembly; 36-a second guide assembly; 351-a fixation element; 352-a moving element; 361-a fixation element; 362-a moving element; 41-a first detection assembly; 42-a second detection component; 411 — first sensor; 412-a first detection section; 413-a first shaft; 414-a first resilient element; 421-a second sensor; 422-a second detection part; 423-second rotating shaft; 424-a second resilient element; 402-centering the drive unit; 404-centering judgment unit; 406-a centering stop unit; 100-a cabinet; 200-a storage device; 300-a delivery device; 101-a panel; 102-an access port; 201-cell; 202-pallet.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the embodiment of the present invention, unless otherwise specified, the term "left-right direction" refers to the direction indicated by the ab arrow in fig. 1, the term "front-back direction" refers to the direction indicated by the cd arrow in fig. 1, the term "up-down direction" refers to the direction indicated by the ef arrow in fig. 1, and the remaining directions are taken as references.
Fig. 1 is a schematic structural view of a delivery device 300 according to an embodiment of the present invention, and fig. 2 is a cross-sectional structural view of the delivery device 300 according to an embodiment of the present invention.
In a first aspect, the present invention provides a delivery apparatus 300, as shown in fig. 1 and fig. 2, including a frame 1, a platform 2 movably connected to the frame 1, and a centering mechanism 3 mounted to the frame 1. Centering mechanism 3 includes first spacing subassembly 33 and second spacing subassembly 34, and first spacing subassembly 33 includes first limiting plate 332, and second spacing subassembly 34 includes second limiting plate 342, and platform 2 sets up between first limiting plate 332 and second limiting plate 342, and first limiting plate 332 and second limiting plate 342 can be close to platform 2 simultaneously by synchronous reverse movement, make the article of arranging in on platform 2 in the middle.
The first restraining plate 332 and the second restraining plate 342 are moved in the left-right direction in a synchronized and opposite direction to approach the platform 2, so that the article placed on the platform 2 is centered with respect to the center line of the platform 2 in the left-right direction.
A delivery device comprises a frame 1, a platform 2 movably connected with the frame 1, and a centering mechanism 3 arranged on the frame 1; the centering mechanism 3 comprises a first limiting component 33 and a second limiting component 34, the platform 2 is located between the first limiting component 33 and the second limiting component 34, the arrangement direction of the first limiting component 33 and the second limiting component 34 is perpendicular to the center line of the platform 2 and parallel to the bearing surface of the platform, and the first limiting component 33 and the second limiting component 34 can synchronously and reversely move along the direction perpendicular to the center line of the platform 2 and parallel to the bearing surface of the platform 2 so as to center an article placed on the platform.
The rack 1 comprises a supporting frame 18, the supporting frame 18 comprises a first side plate 181, a connecting plate 182 and a second side plate 183, wherein the first side plate 181 and the second side plate 183 are arranged at intervals in parallel along the left-right direction, and the connecting plate 182 is vertically connected between the first side plate 181 and the second side plate 183; the platform 2 is a rectangular plate-shaped structure, the length of the platform 2 extends along the front-back direction, the upper surface of the platform 2 is used for supporting articles, and the platform 2 is movably connected with the rack 1 and can move back and forth relative to the rack 1 along the up-down direction by a first set distance and/or move back and forth along the front-back direction by a second set distance.
The embodiment of the invention provides a delivery device 300, which comprises a rack 1, a platform 2 movably connected with the rack 1, and a centering mechanism 3 arranged on the rack 1; the centering mechanism 3 comprises a first limiting assembly 33 and a second limiting assembly 34, the first limiting assembly 33 comprises a first limiting plate 332, the second limiting assembly 34 comprises a second limiting plate 342, the platform 2 is arranged between the first limiting plate 332 and the second limiting plate 342, and the first limiting plate 332 and the second limiting plate 342 synchronously move in the opposite direction and simultaneously approach the platform 2, so that the article placed on the platform 2 is centered; the problem that the article is dropped off from the platform 2 due to the deflection of the article placed on the platform 2 in the moving process of the platform 2 is avoided.
The centering mechanism 3 is mounted on the frame 1 for adjusting the position of the article placed on the platform 2 so that the article is centered with respect to the platform 2 in the left-right direction. The centering mechanism 3 comprises a motor 31, a transmission component 32, a first limiting component 33 and a second limiting component 34, wherein the motor 31 is fixedly installed on the rack 1 and is used for driving the transmission component 32 to drive the first limiting component 33 and the second limiting component 34 to synchronously and reversely move; specifically, the motor 31 is fixed to the second side plate 183; the transmission assembly 32 is used for transmitting the power output by the motor 31 to the first limiting assembly 33 and the second limiting assembly 34; first spacing subassembly 33 and second spacing subassembly 34 are located the left and right sides of platform 2 respectively, through drive assembly 32 and frame 1 swing joint, when the output shaft of motor 31 rotated, can make first spacing subassembly 33 and second spacing subassembly 34 along the synchronous reverse movement of left and right sides direction through drive assembly 32, are close to simultaneously or keep away from platform 2.
The transmission assembly 32 comprises a transmission rod 321, a first transmission piece 322 and a second transmission piece 323, wherein the length direction of the transmission rod 321 extends along the left-right direction, the transmission rod 321 is vertically supported on the first side plate 181 and the second side plate 183 of the support frame 18, the left end and the right end of the transmission rod 321 are respectively provided with threads with opposite rotation directions, the transmission rod 321 is in transmission connection with the motor 31, the motor 31 can drive the transmission rod 321 to rotate around the axis of the motor 31, and when the output shaft of the motor 31 rotates along the first direction or a second direction opposite to the first direction, the transmission rod 321 can be driven to synchronously rotate around the axis of the motor 31; the first transmission member 322 is fixedly connected with the first limit component 33, the second transmission member 323 is fixedly connected with the second limit component 34, two ends of the transmission rod 321 are respectively provided with threads, the rotation directions of the two ends are opposite, the first transmission member 322 is in threaded connection with one end of the transmission rod 321, and the second transmission member 323 is in threaded connection with the other end of the transmission rod 321. Specifically, the first transmission piece 322 and the second transmission piece 323 are both provided with threads along the respective axial directions, and the first transmission piece 322 is in threaded connection and matching with the left end of the transmission rod 321; the second transmission member 323 is engaged with the right end of the transmission rod 321 through a screw connection.
When the motor 31 drives the transmission rod 321 to rotate, the first transmission member 322 and the second transmission member 323 can synchronously move in opposite directions along the length direction of the transmission rod 321, and the length direction of the transmission rod 321 extends in the left-right direction, so that the first limiting assembly 33 and the second limiting assembly 34 can be driven to synchronously move in opposite directions along the left-right direction. When the output shaft of the motor 31 rotates along the first direction, the transmission rod 321 rotates to drive the first transmission member 322 and the second transmission member 323 to simultaneously move towards the direction close to the platform 2 along the left-right direction, so as to drive the first limiting assembly 33 and the second limiting assembly 34 to simultaneously close to the platform 2; when the output shaft of the motor 31 rotates in the second direction, the transmission rod 321 rotates to drive the first transmission member 322 and the second transmission member 323 to move in the left-right direction away from the platform 2, so as to drive the first limiting assembly 33 and the second limiting assembly 34 away from the platform 2.
It should be noted that the transmission rod 321 can be in transmission connection with the motor 31 through a gear set 324 or a transmission belt, in this embodiment, the transmission rod 321 is in transmission connection with the motor 31 through the gear set 324, the gear set 324 includes a plurality of meshing connection gears, a first gear of the plurality of meshing connection gears is fixedly sleeved on the output shaft of the motor 31, a last gear of the plurality of meshing connection gears is fixedly sleeved on the transmission rod 321, and when the output shaft of the motor 31 rotates, the transmission rod 321 can be driven to rotate synchronously through the gear set 324.
In the present embodiment, the driving rod 321 is in a shaft shape, and the left and right ends thereof are provided with external threads, and accordingly, the first driving member 322 and the second driving member 323 are both in a cylindrical shape, and each has an internal thread inside. In another embodiment of the present invention, the driving rod 321 is cylindrical, and the left and right ends thereof are provided with female screws, and accordingly, the first driving member 322 and the second driving member 323 are both shaft-shaped and have respective outer portions provided with male screws.
It should be noted that, in other embodiments provided by the present invention, the transmission assembly 32 may also adopt a rack-and-pinion transmission structure, where the transmission assembly 32 includes a pinion and two racks engaged with the pinion, and the two racks are disposed on two sides of the pinion in parallel and are centrosymmetric with respect to a center point of the pinion. The gear is in transmission connection with the motor 31 and can rotate around the axis of the gear under the driving of the motor 31; the length of two racks all extends along left and right direction, and one of two racks is connected with first spacing subassembly 33, and another of two racks is connected with second spacing subassembly 34, and when motor 31 drive gear rotated, the synchronous reverse motion of accessible two racks drive first spacing subassembly 33 and second spacing subassembly 34.
The drive assembly 32 described above may also take the form of a ball screw.
The first limiting component 33 comprises a first supporting frame 331 and a first limiting plate 332, wherein the first supporting frame 331 is fixedly connected with the first transmission member 322, the first limiting plate 332 is fixedly connected with the first supporting frame 331, the length of the first limiting plate 332 extends in the front-back direction, and the plate surface of the first limiting plate is perpendicular to the upper surface of the platform 2; the second limiting component 34 includes a second supporting frame 341 and a second limiting plate 342, wherein the second supporting frame 341 is fixedly connected to the second transmission member 323, the second limiting plate 342 is fixedly connected to the second supporting frame 341, the length of the second limiting plate 342 extends in the front-back direction, and the plate surface of the second limiting plate is perpendicular to the upper surface of the platform 2. Platform 2, the accommodation space who forms article jointly by first limiting plate 332 and the second limiting plate 342 three that are located the 2 left and right sides of platform, through the interval between adjusting first limiting plate 332 and the second limiting plate 342, can adjust the width of accommodation space along left right direction.
When the motor 31 drives the transmission assembly 32 to drive the first transmission member 322 and the second transmission member 323 to synchronously move in the opposite direction, the first limiting plate 332 and the second limiting plate 342 synchronously move in the opposite direction and simultaneously move close to or away from the platform 2, wherein when the distance between the first limiting plate 332 and the second limiting plate 342 is the largest, both the first limiting assembly 33 and the second limiting assembly 34 are located at the initial positions, and the distance between the first limiting plate 332 and the second limiting plate 342 is matched with the maximum size of the article conveyed by the delivery device 300; when the distance between the first and second stop plates 332, 342 is the smallest, the first and second stop assemblies 33, 34 are both in the extreme positions, and the spacing between the first and second stop plates 332, 342 is adapted to the smallest size of the article conveyed by the delivery device 300.
Preferably, when the platform 2 moves to the highest position in the up-down direction, the lower edges of both the first limit plate 332 and the second limit plate 342 are lower than the upper surface of the platform 2, so that even if the article placed on the platform 2 is thin, the first limit plate 332 and the second limit plate 342 can push the article to be placed centrally on the platform 2 by the left and right sides of the platform 2.
Further, the delivery device 300 further comprises a detection mechanism 4.
The detection mechanism 4 comprises a first detection component 41 and a second detection component 42, wherein the first detection component 41 is arranged on the first limit component 33 and used for detecting whether the first limit plate 332 contacts with the article, and the second detection component 42 is arranged on the second limit component 34 and used for detecting whether the second limit plate 342 contacts with the article.
Preferably, the first detecting component 41 is configured to detect whether the first position-limiting plate 332 is in full contact with the article, and the second detecting component 42 is configured to detect whether the second position-limiting plate 342 is in full contact with the article, wherein when the first position-limiting plate 332 is in full contact with the article, the first position-limiting plate 332 is parallel to the side edge of the article, and when the second position-limiting plate 342 is in full contact with the article, the second position-limiting plate 342 is parallel to the side edge of the article.
Fig. 3 is a schematic structural diagram of the first detecting assembly 41 of the delivery device 300 according to an embodiment of the present invention, as shown in fig. 3, the first detecting assembly 41 includes a first sensor 411, a first detecting portion 412, a first rotating shaft 413, and a first elastic element 414, wherein the first sensor 411 is fixedly connected to the first supporting frame 331 for detecting a position of the first detecting portion 412; the first detecting portion 412 is movably connected to the first position-limiting member 33, and has an initial position and a retracted position relative to the first position-limiting plate 332. Specifically, the first detecting portion 412 is hinged to the first position-limiting component through a first rotating shaft 413, and more specifically, the first detecting portion 412 is hinged to the first supporting frame 331 through the first rotating shaft 413, and the first detecting portion 412 can rotate around the first rotating shaft 413, so as to realize switching between the initial position and the retracted position. When the first detecting portion 412 is located at the initial position, the first detecting portion 412 extends out of the first limiting plate 332, that is, the first detecting portion 412 extends into the accommodating space through the opening of the first limiting plate 332 for a set distance, at this time, the first detecting portion 412 is separated from the first sensor 411, and the first sensor 411 outputs a first signal; when the first detecting portion 412 is located at the retracted position, the first detecting portion 412 is retracted into the first limiting plate 332, that is, the first detecting portion 412 exits from the accommodating space, and at this time, the first detecting portion 412 is matched with the first sensor 411, and the first sensor 411 outputs a second signal; one end of the first elastic element 414 is connected to the first detecting portion 412, and the other end is connected to the first supporting frame 331, and under the elastic force of the first elastic element 414, the first detecting portion 412 always has a movement tendency of rotating toward the initial position. Preferably, when the first detecting portion 412 is located at the initial position, the portion of the first detecting portion 412 extending into the accommodating space is plate-shaped and is parallel to the plate surface of the first limiting plate 332, so that the contact area between the first detecting portion 412 and the article can be increased.
The first detecting portion 412 may be a spring.
The second detecting member 42 and the first detecting member 41 are symmetrically disposed with respect to the platform 2, and specifically, the second detecting member 42 and the first detecting member 41 are symmetrically disposed with respect to the width center of the platform 2 in the left-right direction. The second detecting assembly 42 includes a second sensor 421, a second detecting portion 422, a second rotating shaft 423, and a second elastic element 424, wherein the second sensor 421 is fixedly connected to the second limiting assembly 34, specifically, the second sensor 421 is fixedly connected to the second supporting frame 341, and the second detecting portion 422 is movably connected to the second limiting assembly 34, and has an initial position and a retracted position relative to the second limiting plate 342. Specifically, the second detection portion 422 is hinged to the second limit component 34 through a second rotating shaft 423, and more specifically, the second detection portion 422 is hinged to the second supporting frame 341 through the second rotating shaft 423, and the second detection portion 422 can rotate around the second rotating shaft 423 to realize switching between the initial position and the retracted position. When the second detecting portion 422 is located at the initial position, the second detecting portion 422 extends out of the second limiting plate 342, that is, the second detecting portion 422 extends into the accommodating space through the opening of the second limiting plate 342 for a set distance, at this time, the second detecting portion 422 is separated from the second sensor 421, the second sensor 421 outputs a first signal, when the second detecting portion 422 is located at the retracted position, the second detecting portion 422 retracts into the second limiting plate 342, that is, the second detecting portion 422 exits from the accommodating space, at this time, the second detecting portion 422 is matched with the second sensor 421, and the second sensor 421 outputs a second signal; one end of the second elastic element 424 is connected to the second detecting portion 422, and the other end is connected to the second supporting frame 341, so that the second detecting portion 422 always has a movement tendency of rotating toward the initial position under the elastic force of the second elastic element 424.
It should be noted that, in another embodiment provided by the present invention, the first detecting portion 412 can move parallel to the first supporting frame 331 and has an initial position and a retracted position with respect to the first limiting plate 332, specifically, a long slot extending along the left-right direction is disposed on the first supporting frame 331, and the first detecting portion 412 is in insertion fit with the long slot and can move along the length direction of the long slot, so as to realize switching between the initial position and the retracted position; the second detecting part 422 can move parallel to the second supporting frame 341 and has an initial position and a retracted position relative to the second limiting plate 342, specifically, a long groove with a length extending in the left-right direction is provided on the second supporting frame 341, and the second detecting part 422 is in plugging fit with the long groove and can move in the length direction of the long groove, thereby realizing switching between the initial position and the retracted position.
The detection mechanism 4 can also be in another form, the detection mechanism 4 comprises a first light detection element and a second light detection element which are arranged on two sides of the platform 2, the first light detection element is distributed on one side of the transmission rod, the second light detection element is distributed on the other side of the transmission rod, when the first limiting plate contacts with an article, light irradiation of the first light detection element opposite to one end of the article can be influenced, the first light detection element sends a first signal, when the second limiting plate contacts with the article, light irradiation of the second light detection element opposite to the other end of the article can be influenced, the second light detection element sends the first signal, and when the first light detection element and the second light detection element both send the first signal, the first limiting assembly and the second limiting assembly both stop moving oppositely.
Further, the centering mechanism 3 further includes a guiding assembly, and the guiding assembly is connected to the rack 1 and is used for guiding the first limiting plate 332 and the second limiting plate 342 to move along the set direction. The guide assembly comprises a first guide assembly 35 and a second guide assembly 36, the first guide assembly 35 is arranged between the first limiting assembly 33 and the rack 1, the second guide assembly 36 is arranged between the second limiting assembly 34 and the rack 1, the two guide assemblies can adopt guide structures formed by splicing and matching guide grooves and guide columns, or guide structures formed by matching pulleys and guide rails, and standard parts such as sliding friction guide rails, rolling friction guide rails, elastic friction guide rails, fluid friction guide rails and the like can also be adopted. In this embodiment, two direction subassemblies all adopt linear guide structure.
The first guide assembly 35 is used for guiding the first limiting assembly 33 to move linearly in the left-right direction all the time, the fixed element 351 of the first guide assembly 35 is fixedly connected with the rack 1, the length of the fixed element extends in the left-right direction, the moving element 352 of the first guide assembly 35 is fixedly connected with the first support frame 331, when the motor 31 drives the first limiting assembly 33 and the second limiting assembly 34 to move through the transmission assembly 32, the moving element 352 of the first guide assembly 35 moves along the fixed element 351, so that the first limiting assembly 33 always keeps moving linearly, and in the moving process of the first limiting assembly 33, the first guide assembly 35 can also support the first limiting assembly 33 all the time, so that the first limiting assembly 33 moves more stably; the second guide assembly 36 is used for guiding the second limiting assembly 34 to move along the left-right direction all the time, the fixed element 361 of the second guide assembly 36 is fixedly connected with the rack 1, the length of the fixed element 361 extends along the left-right direction, the moving element 362 of the second guide assembly 36 is fixedly connected with the second supporting frame 341, when the motor 31 drives the first limiting assembly 33 and the second limiting assembly 34 to move through the transmission assembly 32, the moving element 362 of the second guide assembly 36 moves along the fixed element 361, so that the second limiting assembly 34 always keeps moving linearly, and in the moving process of the second limiting assembly 34, the second guide assembly 36 can also support the second limiting assembly 34 all the time, so that the second limiting assembly 34 moves more stably.
The centering mechanism 3 can also have another form, namely the centering mechanism 3 comprises two cylinders symmetrically arranged on two sides of the center of the platform 2 in the length direction, the extending ends of the two cylinders are opposite, the extending frequency is synchronous, when an article on the platform 2 needs to be adjusted to be centered, the two cylinders are started, the extending ends of the two cylinders move towards the center of the platform 2 in the width direction, and when the two extending ends are in contact with the article, the extending ends of the two cylinders stop extending.
Fig. 4 is a schematic structural diagram of a delivery device 300 according to another embodiment of the present invention. As shown in fig. 4, in the present embodiment, the rack 1 further includes a left wall 11, a right wall 12, a top wall 13, a bottom plate (not shown), and a support plate 15, wherein the left wall 11 and the right wall 12 are spaced apart in parallel in the left-right direction, and the distance between the left wall 11 and the right wall 12 is greater than the maximum width of the article; the top wall 13 is vertically connected between the left wall 11 and the right wall 12 with the bottom plate, the top wall 13 is positioned above the bottom plate, the distance between the two walls is larger than the maximum height of the articles, one end of the left wall 11, the right wall 12, the top wall 13 and the bottom plate forms an inlet of the delivery device 300, and the other end of the four walls forms an outlet of the delivery device 300; the surface of the supporting plate 15 is parallel to the platform 2 and is spaced apart from the bottom plate, the supporting plate 15 includes a left supporting plate 151 and a right supporting plate 152, wherein the left supporting plate 151 is connected to the left wall 11, the right supporting plate 152 is connected to the right wall 12, a distance is set between the left supporting plate and the right supporting plate 152 at a distance in the left-right direction, the platform 2 is located between the right supporting plate 152 and the right supporting plate 152, a long groove for avoiding the first supporting frame 331 is provided on the surface of the left supporting plate 151, a long groove for avoiding the second supporting frame 341 is provided on the surface of the right supporting plate 152, and preferably, the widths of the left supporting plate 151 and the right supporting plate 152.
The supporting frame 18 is located between the bottom plate and the supporting plate 15 and is fixedly connected with the bottom plate. The first position-limiting component 33 and the second position-limiting component 34 are respectively located at the left side and the right side of the platform 2, when the first position-limiting component 33 and the second position-limiting component 34 are both located at the initial positions, the first position-limiting component 33 is adjacent to the left wall 11, the second position-limiting component 34 is adjacent to the right wall 12, when the motor 31 drives the first position-limiting component 33 and the second position-limiting component 34 to move towards the extreme positions, the first support frame 331 of the first position-limiting component 33 is close to the platform 2 along the long groove of the left support plate 151, and the second support frame 341 of the second position-limiting component 34 is close to the platform 2 along the long groove of the right support plate 152.
Further, the frame 1 further comprises a guiding plate 16, which comprises a left guiding plate 161 and a right guiding plate (not shown in the figure), wherein the left guiding plate 161 is disposed inside the left wall 11, the right guiding plate is disposed inside the right wall 12, the left guiding plate 161 and the right guiding plate are disposed oppositely, and are disposed in a horn shape towards the inlet of the delivery device 300; when both the first limit stop assembly 33 and the second limit stop assembly 34 are located at the initial position, the first limit plate 332 is flush with the surface of the left guide plate 161 or is submerged between the left guide plate 161 and the left wall 11, and the second limit plate 342 is flush with the surface of the right guide plate or is submerged between the right guide plate and the right wall 12.
Further, the delivering device 300 further comprises a horizontal moving mechanism and a vertical moving mechanism (not shown in the figure), and the platform 2 is connected with the supporting frame 18 through the horizontal moving mechanism and the vertical moving mechanism, wherein the platform 2 can move in the up-and-down direction relative to the supporting plate 15 under the driving of the vertical moving mechanism, and the platform 2 can move in the front-and-back direction relative to the supporting plate 15 under the driving of the horizontal moving mechanism.
The invention provides a delivery device 300, which comprises a platform 2, a centering mechanism 3 and a detection mechanism 4, wherein the centering mechanism 3 comprises a motor 31, a first limit component 33 and a second limit component 34 which are respectively positioned at two sides of the platform 2, and a transmission component 32 which is in transmission connection between the first limit component 33 and the second limit component 34 and is in transmission connection with the motor, the detection mechanism 4 comprises a first detection component 41 which is respectively positioned on the first limit component 33 and a second detection component 42 which is positioned on the second limit component 34, when an output shaft of the motor 31 rotates, the transmission component 32 can drive the first limit component 33 and the second limit component 34 to synchronously approach the platform, the first limit plate 332 and the second limit plate 342 respectively push articles from the left side and the right side of the articles to move and/or rotate so as to adjust the relative position of the articles and the platform 2, when the articles are in contact with the first detection component 41, the first detection part 412 is located at the retraction position, the first sensor 411 outputs a setting signal, when the article is in contact with the second detection assembly 42, the second detection part 422 is located at the retraction position, the second sensor 421 outputs a setting signal, when the first detection assembly 33 and the second detection assembly 42 both output a setting signal, it indicates that the first limit plate 332 and the second limit plate 342 are respectively attached to the side surface of the article, at this moment, the control motor 31 stops rotating, the centering action is completed, and the article is centered on the platform 2. The delivery device 300 provided by the invention can enable the article to be placed on the platform 2 in a centered manner, and the problem that the article falls off from the platform in the moving process of the platform 2 is avoided. Further, because the detection assemblies are arranged on the two limiting assemblies, the two limiting assemblies can be controlled to stop moving in time when the articles are placed in the middle corresponding to the articles with different sizes, and the problem that the articles are damaged by the clamping of the two limiting assemblies is avoided.
Fig. 5 is a schematic block diagram of a control device of the delivery device 300 according to an embodiment of the present invention. As shown in fig. 5, the second aspect of the embodiment of the present invention further provides a device for controlling the operation of the delivery device 300, including:
the centering driving unit 402 is used for controlling the motor 31 to drive the first limiting assembly 33 and the second limiting assembly 34 to move to the extreme positions; specifically, the motor 31 for controlling the delivery device 300 drives the first limiting plate 332 and the second limiting plate 342 to synchronously approach the platform 2 of the delivery device 300;
a centering determination unit 404, configured to detect output signals of the first sensor 411 and the second sensor 421, and determine that the article is placed on the platform 2 in the center when the first detection assembly 41 outputs a detection signal that the first limiting plate 332 contacts with the article and the second detection assembly 42 outputs a detection signal that the second limiting plate 342 contacts with the article;
when both the first sensor 411 and the second sensor 421 output a set signal for detecting the article, it is determined that the article is placed centrally on the platform 2;
and a centering and stopping unit 406, configured to control the motor 31 to stop rotating after determining that the article is centered on the platform 2, so as to stop moving the first limiting assembly 33 and the second limiting assembly 34, specifically, so as to stop moving the first limiting plate 332 and the second limiting plate 342.
The control device of the delivery device of the present embodiment detects the output signals of the first detecting member 41 and the second detecting member 42 when the first stopping member 33 and the second stopping member 34 are synchronously approaching the platform 2, when the first detection component 41 and the second detection component 42 both output the set signal of detecting the article, the first limiting component 33 and the second limiting component 34 are controlled to stop moving, so that the article positioned between the first stop assembly 33 and the second stop assembly 34 is centered on the platform 2, and since the first and second stop assemblies 33 and 34 can be controlled to stop moving in time when the first and second detection assemblies 41 and 42 output the setting signal for detecting the article, the problem of the first and second stop assemblies 33, 34 being too close to the platform 2 to squeeze an article placed on the platform 2 is thus avoided.
Fig. 6 is a schematic external view of a self-service device provided according to a third aspect of an embodiment of the invention, and fig. 7 is a schematic internal structure of the self-service device according to an embodiment of the invention. As shown in fig. 6 and 7, the self-service device may be a self-service vending machine or a self-service express delivery cabinet, and in this embodiment, the self-service device is a self-service express delivery cabinet. The self-service device includes a cabinet 100, a storage device 200 disposed inside the cabinet 100, the delivery device 300 and the driving device (not shown in the figure) and the control device. An access opening 102 is provided in the panel 101 of the cabinet 100, and an operator places or removes an item into or from the delivery device 300 through the access opening 102. The delivery device 300 is disposed between the storage device 200 and the panel 101, and is used for delivering the articles placed in the access opening 102 to the storage device 200 or delivering the articles in the storage device 200 to the access opening 102 under the driving of the driving device.
The storage device 200 is arranged opposite to the panel 101 of the cabinet 100 at an interval, the storage device 200 comprises a plurality of grids 201, each grid 201 is opened towards the panel 101, each grid 201 comprises two support plates 202 arranged at intervals along the left-right direction, a distance is set between the two support plates 202 at intervals, and when the articles are stored in the grids 201, the articles are supported by the two support plates 202 together. Preferably, the plurality of cells 201 are arranged in M rows and N columns; the driving device is used for driving the delivering device 300 to move along the up-down direction and/or the left-right direction, so that the inlet of the delivering device 300 is opposite to the access port 102, or the outlet (not shown in the figure) of the delivering device 300 is opposite to the grid 201 of the set position of the storage device 200, and the driving device is not described herein again because of its weak relevance to the present invention.
The delivering device 300 is located between the panel 101 of the cabinet 100 and the storage device 200 along the front-back direction, and is used for delivering the articles between the access opening 102 and the storage device 200, that is, the delivering device 300 is used for receiving the articles placed in the access opening 102 and then sending the articles to the cell 201 at the set position of the storage device 200, and the delivering device 300 is also used for taking out the articles stored in the cell 201 at the set position of the storage device 200 and then sending the articles to the access opening 102. The structure and operation principle of the delivery device 300 are the same as those of the above embodiments, and are not described herein again.
In the self-service device of the embodiment, by using the delivery device 300 provided by the invention, when the delivery device 300 moves between the access opening 102 and the grid 201 of the storage device 200, the device failure caused by the detachment of the article from the platform 2 can be avoided.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A delivery device comprises a frame and a platform movably connected with the frame, and is characterized by also comprising a centering mechanism arranged on the frame; the centering mechanism comprises a first limiting assembly and a second limiting assembly, the first limiting assembly comprises a first limiting plate, the second limiting assembly comprises a second limiting plate, the platform is arranged between the first limiting plate and the second limiting plate, and the first limiting plate and the second limiting plate can synchronously move in the opposite direction and simultaneously approach the platform, so that an article placed on the platform is centered;
the delivery device further comprises a detection mechanism comprising a first detection component and a second detection component; the first detection assembly is arranged on the first limiting assembly and used for detecting whether the first limiting plate is in contact with an article or not, and the second detection assembly is arranged on the second limiting assembly and used for detecting whether the second limiting plate is in contact with the article or not;
the first detection assembly comprises a first sensor and a first detection part;
the first sensor is fixedly connected with the first limiting assembly and used for detecting the position of the first detection part;
the first detection part is connected with the first limiting assembly and has an initial position and a retracted position relative to the first limiting plate;
when the first detection part is at the initial position, the first detection part extends out of the first limit plate; when the first detection part is in the retraction position, the first detection part retracts into the first limit plate;
the second detection assembly comprises a second sensor and a second detection part;
the second sensor is fixedly connected with the second limiting assembly and used for detecting the position of the second detection part;
the second detection part is connected with the second limiting assembly and has an initial position and a retracted position relative to the second limiting plate;
when the second detection part is at the initial position, the second detection part extends out of the second limit plate; when the second detection part is in the retraction position, the second detection part retracts into the second limiting plate;
when the article is in contact with the first detection component, the first detection part is located at the retracted position; when the article is in contact with the second detection assembly, the second detection portion is in the retracted position.
2. The delivery device of claim 1,
the first detection assembly further comprises a first rotating shaft, the first detection part is hinged with the first limiting assembly through the first rotating shaft, and the first detection part can rotate around the axis of the first rotating shaft so as to realize switching between the initial position and the retracted position;
the second detection assembly further comprises a second rotating shaft, the second detection portion is hinged to the second limiting assembly through the second rotating shaft, and the second detection portion can rotate around the axis of the second rotating shaft to achieve switching between the initial position and the retraction position.
3. The delivery device of claim 1, wherein the first detection assembly and the second detection assembly are symmetrically disposed about the platform.
4. The delivery device of claim 1, wherein the centering mechanism further comprises a motor and transmission assembly; the motor is fixed on the rack and used for driving the transmission assembly to drive the first limiting assembly and the second limiting assembly to synchronously and reversely move.
5. The delivery device of claim 4, wherein the transmission assembly comprises a transmission rod, a first transmission member, and a second transmission member;
the motor can drive the transmission rod to rotate around the axis of the transmission rod;
the first transmission piece is fixedly connected with the first limiting assembly, and the second transmission piece is fixedly connected with the second limiting assembly;
the two ends of the transmission rod are respectively provided with threads, the rotating directions of the threads are opposite, the first transmission piece is in threaded connection with one end of the transmission rod, and the second transmission piece is in threaded connection with the other end of the transmission rod.
6. The delivery device of any one of claims 1-5, wherein the centering mechanism further comprises a guide assembly coupled to the frame for guiding the first and second limiting plates, respectively, to move in a set direction.
7. A control device for controlling the delivery device according to any one of claims 1 to 6, comprising a centering drive unit, a centering judgment unit, and a centering stop unit;
the centering driving unit is used for controlling a motor of the delivery device to drive a first limiting plate and a second limiting plate of the delivery device to synchronously approach a platform of the delivery device;
the centering judgment unit is used for detecting output signals of a first detection assembly of the delivery device and a second detection assembly of the delivery device, and judging that the article is placed on the platform in the center when the first detection assembly outputs a detection signal that the first limiting plate is in contact with the article and the second detection assembly outputs a detection signal that the second limiting plate is in contact with the article;
and the centering and stopping unit is used for controlling the motor to stop rotating after the article is placed on the platform in the middle, so that the first limiting plate and the second limiting plate stop moving.
8. A self-service apparatus comprising a cabinet, a storage device disposed within the cabinet, a drive device, a delivery device according to any one of claims 1 to 6 and a control device according to claim 7; the panel of the cabinet is provided with an access port; the delivery device is arranged between the storage device and the panel and is used for delivering the articles put in from the access opening to the storage device or delivering the articles in the storage device to the access opening under the driving of the driving device.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019364.8A CN108305379B (en) | 2017-01-11 | 2017-01-11 | Delivery device, control device thereof and self-service equipment |
| PCT/CN2018/071345 WO2018130112A1 (en) | 2017-01-11 | 2018-01-04 | Delivery apparatus and control apparatus thereof, and self-service device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019364.8A CN108305379B (en) | 2017-01-11 | 2017-01-11 | Delivery device, control device thereof and self-service equipment |
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| CN108305379A CN108305379A (en) | 2018-07-20 |
| CN108305379B true CN108305379B (en) | 2020-06-23 |
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| CN201710019364.8A Active CN108305379B (en) | 2017-01-11 | 2017-01-11 | Delivery device, control device thereof and self-service equipment |
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| CN (1) | CN108305379B (en) |
| WO (1) | WO2018130112A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110751793A (en) * | 2018-07-23 | 2020-02-04 | 威海新北洋数码科技有限公司 | Intelligent cabinet |
| CN108968613A (en) * | 2018-08-15 | 2018-12-11 | 北京凯博瑞达电气有限公司 | A kind of mailbox |
| CN109911253A (en) * | 2019-04-12 | 2019-06-21 | 黄海忠 | With reusing ground capture recyclable device and arrow controllable recovery method |
| CN110238068A (en) * | 2019-06-24 | 2019-09-17 | 乔紫妍 | Adjustable express delivery sorter suitable for more sizes |
| CN111035160B (en) * | 2019-11-13 | 2022-04-22 | 重庆特斯联智慧科技股份有限公司 | Intelligent internet-of-things tourism management system |
| CN113581530A (en) * | 2021-04-26 | 2021-11-02 | 南京钢诺包装机械有限公司 | High-speed flat-pushing type stacking packaging machine |
| CN113911687A (en) * | 2021-10-08 | 2022-01-11 | 珠海格力智能装备有限公司 | Blocking and positioning device |
| CN114194478A (en) * | 2021-12-27 | 2022-03-18 | 真彩文具股份有限公司 | Full-automatic packaging machine for small pen boxes |
| CN114310989A (en) * | 2022-01-07 | 2022-04-12 | 思辟德智能科技江苏有限公司 | Be used for robot tongs to snatch correction equipment |
| CN114850421A (en) * | 2022-05-06 | 2022-08-05 | 杭州富通集团有限公司 | Processing technology of copper rod |
| CN117963500B (en) * | 2024-03-29 | 2024-06-25 | 山东硕晟机械制造有限公司 | Automatic feeding device for conveyor |
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| DE3502816A1 (en) * | 1984-04-05 | 1985-10-17 | TEPRO-Präzisionstechnik GmbH, 7742 St Georgen | FOOD MACHINE |
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| CN102992063A (en) * | 2012-12-28 | 2013-03-27 | 上海凯思尔电子有限公司 | Board patting centering mechanism of full automatic board collecting machine |
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Also Published As
| Publication number | Publication date |
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| WO2018130112A1 (en) | 2018-07-19 |
| CN108305379A (en) | 2018-07-20 |
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