WO2019057129A1

WO2019057129A1 - Vending machine

Info

Publication number: WO2019057129A1
Application number: PCT/CN2018/106804
Authority: WO
Inventors: 周祺
Original assignee: 上海巨昂实业有限公司
Priority date: 2017-09-25
Filing date: 2018-09-20
Publication date: 2019-03-28
Also published as: CN107578544A; CN107578544B

Abstract

A vending machine, comprising a cabinet body (1a), a commodity storage unit (2a), a supply transfer unit (3a), a commodity placement shelf (5a), a main control unit. The commodity storage unit (2a) is connected to the commodity placement shelf (5a) by means of the supply transfer unit (3a). The supply transfer unit (3a) is provided above the cabinet body (1a) and used for transferring commodities between the commodity storage unit (2a) and the commodity placement shelf (5a). The the commodity placement shelf (5a) comprises a rack (10), a conveyor chain (21), and a take-out port (50) provided in the middle of the front sidewall of the rack (10). The conveyor chain (21) is configured to be rotatable, and is used for conveying trays (30) containing commodities to the take-out port (50). By placing commodities in the trays (30) that are located on the circular chain and move along with same, the commodities in the trays (30) at different positions in the vending machine can be conveyed to the take-out port by means of the chain. The chain has good conveying stability and is not easy to lock the commodities. In addition, the take-out port (50) is located in the middle of the commodity placement shelf (5a), thereby facilitating taking out the commodities by consumers. The present invention overcomes the technical defects of conventional vending machines, and has high practicability.

Description

自动售货机vending machine

技术领域Technical field

本发明涉及售货设备技术领域，尤其涉及一种自动售货机。The invention relates to the technical field of vending equipment, and in particular to a vending machine.

背景技术Background technique

自动售货机是为了实现商品的自主化、自动化交易的一种设备，主要分布在人流密集地区，如火车站，汽车站，医院，工厂，商场等公共场地放置。Vending machines are devices for automating and automating the trading of goods. They are mainly distributed in crowded areas such as railway stations, bus stations, hospitals, factories, shopping malls and other public places.

传统的自动售货机的取货口通常设置在机柜的最下端，柜体内的商品摆放在柜体内部的货架上，货架与取货口之间用垂直通道连通，柜体内的顶推机构将消费者在购买的商品从货架上推下，落入垂直通道内，最终落在取货口的位置，传统自动售货机的顶推机构通常采用呈螺旋结构的推货杆，推货杆活动端伸出至垂直通道内，商品摆放在螺旋推货杆的螺旋槽内，螺旋推货杆的固定端与电机连接，通过电机带动螺旋推货杆转动，将商品顶推至垂直通道内；这种结构的自动售货机容易出现商品卡在货架与垂直通道之间，消费者无法顺利拿走已购买的商品；并且，取货口设置在机柜最下端，消费者通常需要弯腰或蹲下，取货口安装有转动盖板，在拿取商品时需要一只手将转动盖板翻转，另一只手拿取商品，因此，存在劳动强度大，不便于取货的问题，使用较为不便，这种自动售货机的用户体验度非常差。The pick-up port of the traditional vending machine is usually set at the lowermost end of the cabinet, and the goods in the cabinet are placed on the shelf inside the cabinet, and the vertical passage is connected between the shelf and the pick-up port, and the pushing mechanism in the cabinet body will be The goods purchased by the consumer are pushed down from the shelf, fall into the vertical passage, and finally fall in the position of the pick-up port. The push mechanism of the traditional vending machine usually adopts a push rod with a spiral structure, and the movable end of the push rod Extending into the vertical channel, the product is placed in the spiral groove of the screw pusher, and the fixed end of the screw pusher is connected with the motor, and the screw is pushed by the motor to push the product to the vertical channel; The vending machine of the structure is prone to the fact that the product is stuck between the shelf and the vertical passage, and the consumer cannot smoothly take the purchased item; and the take-out port is arranged at the lowermost end of the cabinet, and the consumer usually needs to bend or squat. The take-up port is equipped with a rotating cover plate. When the product is taken, one hand is required to turn the cover plate over and the other hand to take the product. Therefore, there is a problem that the labor intensity is large and the pick-up is not convenient. For the inconvenience, the user experience of such vending machines are very poor.

发明内容Summary of the invention

本发明的目的是提供一种自动化程度高、取货物方便的自动售货机，以解决现有技术中自动售货机容易出现商品卡在货架与垂直通道之间的技术问题。SUMMARY OF THE INVENTION It is an object of the present invention to provide a vending machine with a high degree of automation and convenient cargo taking, to solve the technical problem that the vending machine in the prior art is prone to jam between the shelf and the vertical passage.

为实现上述目的，本发明的技术方案是：In order to achieve the above object, the technical solution of the present invention is:

本发明的一种自动售货机，包括：柜体、商品存储单元、补给移送单元、商品摆放货架、主控制单元，所述商品存储单元、补给移送单元、商品摆放货架分别与所述主控制单元连接；其中，A vending machine of the present invention comprises: a cabinet, a commodity storage unit, a replenishment transfer unit, a merchandise placement shelf, a main control unit, the commodity storage unit, a replenishment transfer unit, and a merchandise placement shelf respectively Control unit connection;

所述商品存储单元、商品摆放货架并排设置于所述柜体中，所述商品存储单元通过所述补给移送单元与所述商品摆放货架衔接；The commodity storage unit and the product placement shelf are arranged side by side in the cabinet, and the commodity storage unit is connected to the commodity placement shelf by the supply and delivery unit;

所述补给移送单元设置于所述柜体的上方，用于在所述商品存储单元与所述商品摆放货架之间移送商品；The replenishment transfer unit is disposed above the cabinet for transferring goods between the commodity storage unit and the merchandise placement shelf;

所述商品摆放货架包括机架、安装于所述机架上两端的传送链条、设置于所述机架前侧壁中部的取货口；The merchandise placement shelf comprises a rack, a conveyor chain installed at two ends of the rack, and a pick-up port disposed at a middle of a front side wall of the rack;

所述传送链条转动设置，用于将盛放有商品的托盘传送至所述取货口，所述托盘两端铰接地与所述传动链条活动连接；The transport chain is rotatably arranged to transport a tray containing the merchandise to the pick-up port, and the two ends of the tray are hingedly connected to the drive chain;

所述商品摆放货架的前方位置为商品购买区。The front position of the merchandise placement shelf is a merchandise purchase area.

进一步改进在于，所述传送链条与一传动机构连接，所述传动机构用于驱动所述传送链条相对于所述取货口从下往上转动。A further improvement consists in that the conveyor chain is connected to a transmission mechanism for driving the conveyor chain to rotate from bottom to top with respect to the pick-up opening.

进一步改进在于，所述商品摆放货架还包括导向块，所述导向块上设有倾斜设置的导向槽，所述托盘的至少一端侧壁上设有导向柱，所述托盘跟随所述传动链条转动时，所述导向柱与所述导向槽相配合，使所述托盘向所述取货口方向倾斜。A further improvement is that the product placement shelf further comprises a guiding block, the guiding block is provided with an inclined guiding groove, and at least one end side wall of the tray is provided with a guiding post, the tray follows the transmission chain When rotating, the guide post cooperates with the guiding groove to tilt the tray toward the pickup port.

进一步改进在于，所述传动机构包括第一电机、主动轮以及多个从动轮，所述传动链条包括两条环形的第一传动链条和第二传动链条，所述第一传动链条和第二传动链条分别安装在其对应侧的所述机架上，所述第一传动链条和第二传动链条的四个角均安装有与所述传动链条啮合的从动轮；A further improvement is that the transmission mechanism comprises a first motor, a driving wheel and a plurality of driven wheels, the transmission chain comprises two annular first transmission chains and a second transmission chain, the first transmission chain and the second transmission The chain is respectively mounted on the frame on the corresponding side thereof, and the four corners of the first transmission chain and the second transmission chain are respectively mounted with the driven wheel that meshes with the transmission chain;

所述第一电机安装在所述机架上的安装板的一侧，且所述第一电机的驱动轴与安装在所述安装板另一侧的主动轮连接，并驱动所述主动轮转动；The first motor is mounted on one side of a mounting plate on the frame, and a drive shaft of the first motor is coupled to a driving wheel mounted on the other side of the mounting plate, and drives the driving wheel to rotate ;

所述主动轮与第一传动链条上的第一从动轮通过第一子链条实现啮合转动，转动的所述主动轮带动所述第一从动轮转动；The driving wheel and the first driven wheel on the first transmission chain realize the meshing rotation by the first sub-chain, and the rotating driving wheel drives the first driven wheel to rotate;

所述第一传动链条上的第一从动轮与第二传动链条的第二从动轮通过传动轴连接，转动的所述第一从动轮带动所述第二从动轮转动。The first driven wheel on the first transmission chain and the second driven wheel of the second transmission chain are connected by a transmission shaft, and the rotating first driven wheel drives the second driven wheel to rotate.

进一步改进在于，所述传动机构还包括第一随动轮和第二随动轮；Further improvement is that the transmission mechanism further includes a first follower wheel and a second follower wheel;

所述第一随动轮安装在所述第一传动链条侧的机架上，所述第二随动轮安装在所述第二传动链条侧的机架上；The first follower wheel is mounted on the frame on the side of the first drive chain, and the second follower wheel is mounted on the frame on the side of the second drive chain;

所述第一随动轮和第二随动轮通过传动轴连接，所述第一随动轮、主动轮以及第一从动轮外啮合设有第一子链条，所述第二随动轮以及第二从动轮外啮合设有第二子链条。The first follower wheel and the second follower wheel are connected by a transmission shaft, and the first follower wheel, the driving wheel and the first driven wheel are externally engaged with a first sub-chain, the second follower wheel and the second follower wheel The outer meshing is provided with a second sub-chain.

进一步改进在于，所述传动机构还包括安装在机架上的第三随动轮，所述第三随动轮设置在所述第二传动链条上第三从动轮的下方；Further improvement is that the transmission mechanism further includes a third follower wheel mounted on the frame, the third follower wheel is disposed below the third driven wheel on the second transmission chain;

所述第三随动轮和所述第三从动轮外啮合设有第三子链条，所述第三子链条上还设有一圆柱；The third follower wheel and the third driven wheel are externally engaged with a third sub-chain, and the third sub-chain is further provided with a cylinder;

在所述第三子链条侧边，还设有与安装在所述机架上的第一限位开关；And a first limit switch mounted on the frame on the side of the third sub-chain;

当所述第三子链条上的圆柱转动至所述第一限位开关的安装位时，所述圆柱与所述第一限位开关接触设置。When the cylinder on the third sub-chain rotates to the mounting position of the first limit switch, the cylinder is disposed in contact with the first limit switch.

进一步改进在于，所述托盘的两侧均设有托耳，所述托耳上设有安装槽，所述安装槽将所述托盘挂接在第一传动链条和第一传动链条上设置的多个安装柱上。Further improvement is that the tray is provided with a bracket on both sides thereof, and the bracket is provided with a mounting slot, and the mounting slot mounts the tray on the first transmission chain and the first transmission chain. On the mounting post.

进一步改进在于，所述托耳包括上托耳和下托耳；所述上托耳上设有前后对称的第一凹槽，所述上托耳的顶部还设有与所述第一凹槽连通设置的第一通孔；Further improvement is that the bracket includes an upper bracket and a lower bracket; the upper bracket is provided with a first groove symmetrically symmetrical, and the top of the upper bracket is further provided with the first groove a first through hole connected to the setting;

所述下托耳上设有第二凹槽，所述第二凹槽与所述上托耳外部形状相匹配；a second groove is disposed on the lower bracket, and the second groove is matched with an outer shape of the upper bracket;

所述安装槽包括窄口部以及与所述窄口部连通设置的扩口部，所述窄口部卡合在所述安装柱上，所述扩口部的下方呈开口状。The mounting groove includes a narrow mouth portion and a flared portion that communicates with the narrow mouth portion, the narrow mouth portion is engaged with the mounting post, and the flared portion has an opening shape below.

进一步改进在于，所述取货口处设有多个安装在机架上的感应器，多个所述感应器的设置数量和设置位置与布设在所述托盘底部的通孔一致。A further improvement is that a plurality of sensors mounted on the rack are disposed at the pick-up port, and the number and the set positions of the plurality of sensors are consistent with the through holes disposed at the bottom of the tray.

进一步改进在于，所述取货口设有与主控制单元电性连接的自动开关门组件，所述自动开关门组件包括安装在机架上且与主控制单元电性连接的推杆电机、摆动件、由扇形板组成的旋转门、弹簧以及电控锁；A further improvement is that the pick-up port is provided with an automatic switch door assembly electrically connected to the main control unit, the automatic switch door assembly comprising a push rod motor mounted on the frame and electrically connected to the main control unit, and swinging a rotating door, a spring and an electric lock composed of a sector plate;

所述推杆电机的缸体端铰接在所述机架上，其活塞端与一折弯杆固定连接；The cylinder end of the push rod motor is hinged on the frame, and the piston end thereof is fixedly connected with a bending rod;

所述摆动件与安装在机架上的安装座转动连接，所述摆动件还与所述折弯杆固定连接，所述摆动件上还设有作用于所述旋转门顶板的压轮；The oscillating member is rotatably connected to the mounting seat mounted on the frame, the oscillating member is also fixedly connected to the bending rod, and the oscillating member is further provided with a pressure roller acting on the top plate of the revolving door;

所述旋转门的顶部与机架铰接；The top of the revolving door is hinged to the frame;

所述弹簧的一端固定安装在所述摆动件上，另一端固定安装在所述旋转门的底板上；One end of the spring is fixedly mounted on the swinging member, and the other end is fixedly mounted on the bottom plate of the revolving door;

所述电控锁设置在关闭状态下所述旋转门底板的下方，所述底板上还设有一与所述电控锁配合使用的磁铁。The electric lock is disposed under the revolving door bottom plate in a closed state, and the bottom plate is further provided with a magnet for use with the electric lock.

进一步改进在于，所述商品摆放货架还包括一壳体，所述壳体罩在所述机架的外部；所述壳体上设有一便于观察货物的透明区域。A further improvement is that the merchandise placement shelf further includes a housing that covers the exterior of the frame; the housing is provided with a transparent area for viewing the cargo.

进一步改进在于，所述补给移送单元包括三轴移动机构和与所述三轴移动机构连接的抓手，所述三轴移动机构可相对于所述柜体的横向、纵向、竖直方向移动，所述抓手用于夹持所述托盘。Further improvement is that the replenishment transfer unit includes a three-axis moving mechanism and a gripper connected to the three-axis moving mechanism, and the three-axis moving mechanism is movable relative to a lateral, longitudinal, and vertical direction of the cabinet. The grip is used to grip the tray.

进一步改进在于，所述三轴移动机构包括第一齿轮齿条导轨、第二齿轮齿条导轨、第三齿轮齿条导轨、抓手安装盘，所述抓手安装盘与所述第一齿轮齿条导轨连接，所述第一齿轮齿条导轨竖直设置，并通过第一滑块与所述第二齿轮齿条导轨滑动配合连接，所述第一滑块与所述第二齿轮齿条导轨滑动配合连接，所述第二齿轮齿条导轨沿所述柜体的纵向设置，两端分别通过第二滑块与所述第三齿轮齿条导轨滑动配合连接，所述第三齿轮齿条导轨沿所述柜体的横向设置；所述抓手安装盘的两端分别设置有所述抓手。Further improvement is that the three-axis moving mechanism includes a first rack-and-pinion rail, a second rack-and-pinion rail, a third rack-and-pinion rail, a gripper mounting disc, the gripper mounting disc and the first gear tooth a rail connection, the first rack and pinion rail is vertically disposed, and is slidably coupled to the second rack and pinion rail by a first slider, the first slider and the second rack and pinion rail a second sprocket rail is disposed along a longitudinal direction of the cabinet, and two ends are respectively slidably coupled to the third rack and pinion rail by a second slider, the third rack and pinion guide The utility model is disposed along a lateral direction of the cabinet; the two ends of the grip installation disc are respectively provided with the gripper.

进一步改进在于，所述抓手包括夹爪、夹爪安装座、拉杆摆杆机构，所述夹爪对称设置于所述夹爪安装座上、且与所述夹爪安装座可相对移动连接，所述拉杆摆杆机构的摆杆中部与所述夹爪安装座铰接，所述拉杆摆杆机构的拉杆一端与所述摆杆的端部铰接，所述拉杆另一端与所述夹爪的上端铰接，所述摆杆的其中一端与驱动杆铰接，所述摆杆转动时，带动所述夹爪相互靠拢夹持或相互远离张开。A further improvement is that the gripper comprises a clamping jaw, a jaw mounting seat and a rod swinging rod mechanism, and the clamping jaw is symmetrically disposed on the jaw mounting seat and is relatively movablely connected with the jaw mounting seat. a middle portion of the swing lever of the pull rod swinging mechanism is hinged with the jaw mounting seat, and one end of the pull rod of the pull rod swinging rod mechanism is hinged with an end of the swing rod, and the other end of the pull rod and an upper end of the clamping rod Hinged, one end of the swinging rod is hinged with the driving rod, and when the swinging rod rotates, the clamping jaws are driven to clamp together or away from each other.

进一步改进在于，还包括加热烘焙单元，设置于所述柜体上端，所述加热烘焙单元通过所述补给移送单元与所述商品存储单元、商品摆放货架衔接；所述加热烘焙单元与所述主控制单元连接，所述加热烘焙单元用于加热或烘焙商品。Further improved, further comprising: a heating and baking unit disposed at an upper end of the cabinet, the heating and baking unit being engaged with the commodity storage unit and the commodity placement shelf by the supply and delivery unit; the heating and baking unit and the A main control unit is connected, which is used to heat or bake the merchandise.

进一步改进在于，所述加热烘焙单元包括烘焙机，所述烘焙机包括箱本体、支撑板、箱门、箱门开启机构，所述支撑板两侧通过导轨安装于所述箱本体内，所述箱门盖合在所述箱本体的开口，并与所述支撑板外端连接，所述箱门开启机构一端固定于所述箱本体上、另一端与所述箱门连接，所述箱门开启机构与所述主控制单元连接，所述箱门开启机构用于驱动所述箱门打开或关闭。A further improvement is that the heating and baking unit comprises a roasting machine, the roasting machine comprising a box body, a support plate, a box door and a door opening mechanism, the two sides of the support plate being mounted in the box body by rails, a door cover is coupled to the opening of the box body and connected to the outer end of the support plate, the door opening mechanism is fixed at one end to the box body, and the other end is connected to the box door, the box door An opening mechanism is coupled to the main control unit, and the door opening mechanism is configured to drive the door to open or close.

进一步改进在于，所述箱门开启机构包括滑轨、伸缩臂、驱动电机，所述滑轨设置于烘焙机的箱本体上，所述伸缩臂与所述滑轨配合连接，所述伸缩臂的前端部通过连接杆与烘焙机的箱门连接；所述驱动电机固定于烘焙机的箱本体上，并通过齿轮齿条机构与所述伸缩臂连接，所述驱动电机与主控制单元电连接，所述主控制单元用于控制驱动电机转动，从而带动伸缩臂沿所述滑轨轴向移动，使烘焙机的箱门打开或关闭。A further improvement is that the door opening mechanism includes a slide rail, a telescopic arm, and a driving motor. The slide rail is disposed on a box body of the roasting machine, and the telescopic arm is coupled with the sliding rail, and the telescopic arm is The front end portion is connected to the box door of the roasting machine through a connecting rod; the driving motor is fixed on the box body of the roasting machine, and is connected to the telescopic arm through a rack and pinion mechanism, and the driving motor is electrically connected to the main control unit, The main control unit is configured to control the rotation of the driving motor to drive the telescopic arm to move axially along the sliding rail to open or close the door of the baking machine.

进一步改进在于，所述箱门开启机构还包括第一行程开关、第二行程开关，所述第一行程开关、第二行程开关分别与所述主控制单元连接，所述第一行程开关用于在所述烘焙机的箱门处于打开状态时，控制所述驱动电机停止转动；第二行程开关用于在所述烘焙机的箱门处于关闭状态时，控制所述驱动电机停止转动。A further improvement is that the door opening mechanism further includes a first travel switch and a second travel switch, wherein the first travel switch and the second travel switch are respectively connected to the main control unit, and the first travel switch is used for The drive motor is controlled to stop rotating when the box door of the roaster is in an open state; and the second stroke switch is configured to control the drive motor to stop rotating when the box door of the roaster is in a closed state.

进一步改进在于，还包括一重量检测单元，所述重量检测单元设置于所述商品摆放货架的前方位置的地面上，所述重量检测单元与所述主控制单元连接，用于触发设置于所述机架上的人脸识别装置进行人脸识别。Further improved is that a weight detecting unit is further disposed on the ground at a position in front of the commodity placing shelf, and the weight detecting unit is connected to the main control unit for triggering the setting The face recognition device on the rack performs face recognition.

进一步改进在于，所述商品存储单元为冷藏柜，所述冷藏柜的上端设置开口与所述补给移送单元衔接，所述开口Further improvement is that the commodity storage unit is a refrigerated cabinet, and an upper end of the refrigerated cabinet is provided with an opening that is engaged with the replenishment transfer unit, the opening

设有移动门，所述移动门可相对开口滑动而打开或盖合所述开口。A moving door is provided, the moving door being slidable relative to the opening to open or close the opening.

进一步改进在于，所述商品存储单元内设置有所述商品摆放货架。A further improvement is that the merchandise storage unit is provided with the merchandise placement shelf.

本发明由于采用了以上技术方案，使其具有以下有益效果是：The present invention has the following beneficial effects by adopting the above technical solutions:

本发明的自动售货机通过将商品放置在具有传送链条的商品摆放货架内的托盘内，托盘跟随环形结构的链条在机架上循环移动，可将消费者购买的商品通过链条传送至设置于机架中部位置的取货口，取货口的旋转门在主控制单元的控制下打开，商品直接展现在消费者的眼前，仅站立用手即可从取货口将商品取出，方便快捷，解决了现有技术中传统自动售货机容易卡住商品以及拿取商品不便的问题；具有结构简单，操作方便，实用性好的优点。The vending machine of the present invention can transport the merchandise purchased by the consumer through the chain to the tray by placing the merchandise in the tray placed in the shelf of the merchandise having the conveying chain, and the pallet follows the chain of the ring structure to circulate on the rack. The pick-up port in the middle position of the rack, the revolving door of the pick-up port is opened under the control of the main control unit, and the merchandise is directly displayed in front of the consumer, and the product can be taken out from the pick-up port only by standing, which is convenient and quick. The invention solves the problems that the traditional vending machine is easy to jam the goods and inconveniences for taking the goods in the prior art; and has the advantages of simple structure, convenient operation and good practicability.

附图说明DRAWINGS

图1为本发明一实施例中自动售货机的结构示意图；1 is a schematic structural view of a vending machine according to an embodiment of the present invention;

图2为本发明中三轴移动机构的结构示意图；2 is a schematic structural view of a three-axis moving mechanism in the present invention;

图3为图2中A局部放大图；Figure 3 is a partial enlarged view of A in Figure 2;

图4为本发明抓手张开状态夹爪结构示意图；Figure 4 is a schematic view showing the structure of the gripping jaw of the gripper of the present invention;

图5为本发明中三轴移动机构的局部结构示意图；Figure 5 is a partial structural schematic view of a three-axis moving mechanism of the present invention;

图6为本发明中烘焙机盛放托盘时的结构示意图；Figure 6 is a schematic view showing the structure of the baking machine when the tray is placed in the present invention;

图7为一实施例中烘焙机在箱门开启机构下打开状态时的示意图；Figure 7 is a schematic view showing the baking machine in an open state under the door opening mechanism in an embodiment;

图8为一实施例中烘焙机在箱门开启机构下关闭状态时的示意图；Figure 8 is a schematic view showing the baking machine in a closed state under the door opening mechanism in an embodiment;

图9为本发明一实施例中箱门开启机构的示意图；FIG. 9 is a schematic diagram of a door opening mechanism according to an embodiment of the present invention; FIG.

图10为本发明一实施例中商品摆放货架的结构示意图；FIG. 10 is a schematic structural view of a merchandise placing shelf according to an embodiment of the present invention; FIG.

图11为本发明一实施例中商品摆放货架省略壳体的结构示意图一；11 is a schematic structural view 1 of a housing omitting housing in an embodiment of the present invention;

图12为本发明一实施例中商品摆放货架省略壳体的结构示意图二；12 is a second schematic structural view of a housing omitting housing in accordance with an embodiment of the present invention;

图13为本发明中传动机构的局部示意图一；Figure 13 is a partial schematic view of the transmission mechanism of the present invention;

图14为本发明中传动机构的局部示意图二；Figure 14 is a partial schematic view 2 of the transmission mechanism of the present invention;

图15为本发明中传动机构的局部示意图三；Figure 15 is a partial schematic view 3 of the transmission mechanism of the present invention;

图16为本发明中托盘和导块配合时的状态图；Figure 16 is a view showing a state in which the tray and the guide block are engaged in the present invention;

图17为本发明中导块的结构示意图；Figure 17 is a schematic structural view of a guide block in the present invention;

图18为本发明中托盘的结构示意图；Figure 18 is a schematic structural view of a tray in the present invention;

图19为本发明中自动开启门组件开启状态正面图；Figure 19 is a front elevational view showing the state in which the automatic opening door assembly is opened in the present invention;

图20为本发明中自动开启门组件开启状态背面图一；Figure 20 is a rear view of the automatic opening door assembly in the present invention;

图21为本发明中自动开启门组件开启状态背面图二；Figure 21 is a rear view of the automatic opening door assembly in the present invention;

图22为本发明中自动开启门组件关闭状态正面图；Figure 22 is a front elevational view showing the state in which the automatic opening door assembly is closed in the present invention;

图23为本发明中自动开启门组件关闭状态背面图。Figure 23 is a rear elevational view showing the state in which the automatic opening door assembly is closed in the present invention.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

如图1所示，本发明提供了一种自动售货机，包括：柜体1a、商品存储单元2a、补给移送单元3a、商品摆放货架5a、主控制单元，商品存储单元2a、补给移送单元3a、商品摆放货架5a分别与主控制单元(图中未示出)连接；其中，商品存储单元2a、商品摆放货架5a并排设置于柜体1a中，商品存储单元2a通过补给移送单元3a与商品摆放货架5a衔接；补给移送单元3a设置于柜体1a的上方，用于在商品存储单元2a与商品摆放货架5a之间移送商品；商品摆放货架5a包括机架10、安装于机架10上两端的传送链条21、设置于机架10前侧壁中部的取货口50；传送链条21转动设置，用于将盛放有商品的托盘30传送至取货口50，托盘30两端采用铰接方式与传动链条21活动连接；商品摆放货架5a的前方位置为商品购买区4，在本实施例中，柜体1a中具有多个商品摆放货架5a，各个商品摆放货架5a通过单排或由单排相并拢形成双排的方式放置在柜体1a内，如图1所示，三个商品摆放货架5a并排形成单排方式，两个单排的商品摆放货架5a背面靠拢形成双排方式。As shown in FIG. 1, the present invention provides a vending machine comprising: a cabinet 1a, a product storage unit 2a, a replenishment transfer unit 3a, a product placement shelf 5a, a main control unit, a commodity storage unit 2a, and a replenishment transfer unit. 3a, the product placement shelf 5a is respectively connected to a main control unit (not shown); wherein the product storage unit 2a, the product placement shelf 5a are arranged side by side in the cabinet 1a, and the product storage unit 2a is supplied by the supply transfer unit 3a The product placement shelf 5a is coupled to the product placement shelf 5a; the supply transfer unit 3a is disposed above the cabinet 1a for transferring the product between the product storage unit 2a and the product placement shelf 5a; the product placement shelf 5a includes the frame 10, and is mounted on a conveyor chain 21 at both ends of the frame 10, a pick-up port 50 disposed at a middle portion of the front side wall of the frame 10; and a transport chain 21 rotatably disposed for transporting the tray 30 containing the merchandise to the pick-up port 50, the tray 30 The two ends are connected to the transmission chain 21 in an articulated manner; the front position of the product placement shelf 5a is the product purchase area 4. In the embodiment, the cabinet 1a has a plurality of product placement shelves 5a, and each product is placed on the shelf. 5a pass The single row or the single row is arranged in a double row to form a double row. In the cabinet 1a, as shown in FIG. 1, three products are arranged on the shelf 5a side by side to form a single row manner, and two single rows of products are placed on the back of the shelf 5a. Close together to form a double row.

具体地，传送链条21与一传动机构20连接，传动机构20安装在机架10上，传动机构20用于驱动传送链条21相对于取货口50从下往上转动，值得说明的是，传送链条21相对于取货口50从下往上转动指的是盛放有商品的托盘30随传送链条21自下往上移动。Specifically, the transport chain 21 is coupled to a transmission mechanism 20, and the transmission mechanism 20 is mounted on the frame 10. The transmission mechanism 20 is used to drive the transmission chain 21 to rotate from bottom to top with respect to the pickup port 50. It is worth noting that the transmission Rotation of the chain 21 from the bottom to the top with respect to the take-up port 50 means that the tray 30 containing the merchandise moves from bottom to top with the transport chain 21.

在实际应用中，商品存储单元2a可以为具有密闭空间的冷藏柜，或者冷藏保鲜柜，冷藏柜的侧壁设置可旋转打开的密闭柜门，以便进行补给商品时，进入冷藏柜中，冷藏柜的上部具有开口，开口设置全自动移动门，用于与补给移送单元3a衔接。In practical applications, the commodity storage unit 2a may be a refrigerated cabinet with a confined space, or a refrigerated storage cabinet, and the side wall of the refrigerated cabinet is provided with a rotatable open cabinet door for entering the refrigerating cabinet when replenishing the merchandise. The upper portion has an opening, and the opening is provided with a fully automatic moving door for engaging with the replenishment transfer unit 3a.

优选地，参照图10-图12所示，本实施例中，商品摆放货架5a还包括安装在机架10上的导向块40，导向块40上设有倾斜设置的导向槽41，托盘30的的至少一端侧壁上设有一导向柱31，本实施例中，托盘30的两端各设有一导向柱31，两根导向柱31以托盘30的中心旋转对称设置，托盘30跟随传动链条21转动时，导向柱31与导向槽41相配合，导向柱31沿导向槽41的设置方向运动，可以实现托盘30的自动倾斜，使托盘30向取货口50方向倾斜，托盘30与传动链条21为活动连接，托盘30两端悬挂在传送链条21上的销轴上，托盘30与销轴之间为铰接方式，这样，托盘21取放方便，且不易脱落；与此同时，托盘30上的托耳碰到第二限位开关，链条停止转动，可以实现托盘30的自动倾斜，以便将货物呈现在取货口供顾客取货。Preferably, referring to FIG. 10 to FIG. 12, in the embodiment, the product placement shelf 5a further includes a guiding block 40 mounted on the frame 10. The guiding block 40 is provided with an inclined guiding groove 41, and the tray 30 is provided. A guide post 31 is disposed on at least one end of the side wall. In this embodiment, a guide post 31 is disposed at each end of the tray 30. The two guide posts 31 are rotationally symmetrically disposed at the center of the tray 30, and the tray 30 follows the drive chain 21. When rotating, the guide post 31 cooperates with the guide groove 41, and the guide post 31 moves in the direction in which the guide groove 41 is disposed, so that the automatic tilting of the tray 30 can be realized, and the tray 30 is inclined toward the take-out port 50, and the tray 30 and the drive chain 21 are For the movable connection, the two ends of the tray 30 are hung on the pin on the conveying chain 21, and the tray 30 and the pin are hinged, so that the tray 21 is convenient to pick and place, and is not easy to fall off; at the same time, on the tray 30 When the bracket touches the second limit switch and the chain stops rotating, the automatic tilting of the tray 30 can be realized, so that the goods are presented at the pick-up port for the customer to pick up the goods.

商品摆放货架5a还包括一壳体70，壳体70罩在机架10的外部，壳体70还设有一便于观察货物的透明区域。透明区域便于顾客对售货机内的货物进行观察以便选择所需货品。The merchandise placement shelf 5a also includes a housing 70 that houses the exterior of the frame 10 and that is also provided with a transparent area for viewing the cargo. The transparent area allows the customer to view the goods in the vending machine in order to select the desired item.

参照图13-图15所示，传动机构20包括电机22、主动轮23以及多个从动轮。电机22与主控制单元电性连接，传动机构20带动第一传动链条211和第二传动链条212同步运动，实现盛放有物料或商品的托盘30循环运动，便于用于获取所需要的货物，控制方式简单方便易操作，实用性强。Referring to Figures 13-15, the transmission mechanism 20 includes a motor 22, a drive wheel 23, and a plurality of driven wheels. The motor 22 is electrically connected to the main control unit, and the transmission mechanism 20 drives the first transmission chain 211 and the second transmission chain 212 to move synchronously, so as to realize the circulation movement of the tray 30 containing materials or commodities, which is convenient for obtaining the required goods. The control method is simple, convenient and easy to operate, and has strong practicability.

传动链条21包括两条环形设置的第一传动链条211和第二传动链条212，第一传动链条211和第二传动链条212分别安装在其对应侧的机架10上，第一传动链条211和第二传动链条212的四个角均安装有与传动链条21啮合的从动轮；电机22安装在机架10上的安装板11的一侧，且电机22的驱动轴与安装在安装板11另一侧的主动轮23连接，并驱动主动轮23转动；主动轮23与第一传动链条211上的第一从动轮241通过第一子链条2101实现啮合转动，转动的主动轮23带动第一从动轮241转动；第一传动链条211上的第一从动轮241 与第二传动链条212的第二从动轮242通过传动轴25连接，转动的第一从动轮241带动第二从动轮242转动。The transmission chain 21 includes two first transmission chains 211 and a second transmission chain 212. The first transmission chain 211 and the second transmission chain 212 are respectively mounted on the frame 10 on the corresponding side thereof, and the first transmission chain 211 and The four corners of the second transmission chain 212 are each mounted with a driven wheel that meshes with the drive chain 21; the motor 22 is mounted on one side of the mounting plate 11 on the frame 10, and the drive shaft of the motor 22 is mounted on the mounting plate 11 The driving wheel 23 on one side is connected and drives the driving wheel 23 to rotate; the driving wheel 23 and the first driven wheel 241 on the first transmission chain 211 are meshed and rotated by the first sub-chain 2101, and the rotating driving wheel 23 drives the first slave. The moving wheel 241 rotates; the first driven wheel 241 on the first transmission chain 211 and the second driven wheel 242 of the second transmission chain 212 are connected by a transmission shaft 25, and the rotating first driven wheel 241 drives the second driven wheel 242 to rotate.

进一步地，传动机构20还包括第一随动轮2401和第二随动轮2402，第一随动轮2401安装在第一传动链条211侧的机架10上，第二随动轮2402安装在第二传动链条212侧的机架10上，第一随动轮2401和第二随动轮2402通过传动轴25连接，第一随动轮2401、主动轮23以及第一从动轮241外啮合设有第一子链条2101，第二随动轮242以及第二从动轮242外啮合设有第二子链条2102。第一随动轮2401、主动轮23以及第一从动轮241构成三角安装位，安装方式使得动力传送更加稳定可控。Further, the transmission mechanism 20 further includes a first follower wheel 2401 and a second follower wheel 2402. The first follower wheel 2401 is mounted on the frame 10 on the side of the first drive chain 211, and the second follower wheel 2402 is mounted on the second drive chain. The first follower wheel 2401 and the second follower wheel 2402 are connected by a transmission shaft 25, and the first follower wheel 2401, the driving wheel 23 and the first driven wheel 241 are externally engaged with a first sub-chain 2101. The second follower wheel 242 and the second driven wheel 242 are externally meshed with a second sub-chain 2102. The first follower wheel 2401, the driving wheel 23 and the first driven wheel 241 form a triangular mounting position, and the mounting manner makes the power transmission more stable and controllable.

进一步地，传动机构20还包括安装在机架10上的第三随动轮2403，第三随动轮2403设置在第二传动链条212上第三从动轮243的下方；第三随动轮2403和第三从动轮243外啮合设有第三子链条2103，第三子链条2103上还设有一圆柱2104；在第三子链条2103侧边，还设有与安装在机架10上的第一限位开关12；当第三子链条2103上的圆柱2104转动至第一限位开关12的安装位时，圆柱2104与第一限位开关12接触设置。圆柱2104转动一圈的距离与设置在传动链条21上相邻的托盘30之间的距离相同，当圆柱2104碰到第一限位开关12时，第一限位开关12将该信号反馈给主控制单元，主控制单元控制电机22停止运转，此时其中一托盘30跟随传送链条21移动至机架10的顶部的正中间位置(即托盘取放位置)，等待抓手抓取托盘30。Further, the transmission mechanism 20 further includes a third follower wheel 2403 mounted on the frame 10, the third follower wheel 2403 is disposed below the third driven wheel 243 on the second transmission chain 212; the third follower wheel 2403 and the third The driven wheel 243 is externally provided with a third sub-chain 2103. The third sub-chain 2103 is further provided with a cylinder 2104. On the side of the third sub-chain 2103, a first limit switch mounted on the frame 10 is further disposed. 12; when the cylinder 2104 on the third sub-chain 2103 is rotated to the mounting position of the first limit switch 12, the cylinder 2104 is placed in contact with the first limit switch 12. The distance that the cylinder 2104 rotates one turn is the same as the distance between the adjacent trays 30 disposed on the transmission chain 21. When the cylinder 2104 hits the first limit switch 12, the first limit switch 12 feeds back the signal to the main The control unit, the main control unit controls the motor 22 to stop operating, at which time one of the trays 30 follows the conveyor chain 21 to the center of the top of the frame 10 (i.e., the tray pick-and-place position), waiting for the gripper to grasp the tray 30.

参照图18所示，托盘30的两侧均设有托耳32，托耳32上设有安装槽33，安装槽33将托盘30挂接在第一传动链条211和第一传动链条212上设置的多个安装柱上。安装槽33与安装柱为转动连接，安装槽33可外绕安装柱旋转一定角度。Referring to FIG. 18, the tray 30 is provided with a mounting bracket 32 on both sides thereof, and the mounting bracket 33 is provided with a mounting slot 33 for attaching the tray 30 to the first transmission chain 211 and the first transmission chain 212. Multiple mounting posts. The mounting groove 33 is rotatably connected to the mounting post, and the mounting groove 33 can be rotated around the mounting post by a certain angle.

作为进一步地改进，托耳32包括上托耳和下托耳；上托耳上设有前后对称的第一凹槽321，上托耳的顶部还设有与第一凹槽321连通设置的第一通孔322；下托耳上设有第二凹槽323，第二凹槽323与上托耳外部形状相匹配。第一凹槽321和第一通孔322所形成的结构便于与之配合的抓手抓取托盘30。第二凹槽 323与上托耳外部形状相匹配，目的是能够将闲置的托盘30叠放在一起，更加节省空间，也便于搬运。As a further improvement, the bracket 32 includes an upper bracket and a lower bracket; the upper bracket is provided with a front and rear symmetrical first recess 321 , and the top of the upper bracket is further provided with a first communicating with the first recess 321 A through hole 322 is disposed on the lower bracket, and the second groove 323 is matched with the outer shape of the upper bracket. The structure formed by the first recess 321 and the first through hole 322 facilitates the grasping gripper tray 30 that cooperates therewith. The second recess 323 is matched to the outer shape of the upper bracket for the purpose of stacking the unused trays 30 together, which is more space efficient and easier to handle.

优选地，在实际生产应用中，托耳32为一体成型结构，采用耐高温材质耐、耐磨损的材料加工成型，例如轻质的不锈钢合金、铝合金等等。Preferably, in actual production applications, the lugs 32 are integrally formed and formed by materials resistant to high temperature materials and abrasion, such as lightweight stainless steel alloys, aluminum alloys, and the like.

安装槽33包括窄口部以及与窄口部连通设置的扩口部，窄口部卡合在安装柱上，扩口部的下方呈开口状。扩口部的作用是运输物料盒子时，方便堆叠且不会错乱倾倒，其窄口部的设置在实现可围绕安装柱转动的同时，也不易使托盘30从安装柱上脱落。The mounting groove 33 includes a narrow mouth portion and a flared portion that communicates with the narrow mouth portion, and the narrow mouth portion is engaged with the mounting post, and the lower portion of the flared portion has an open shape. The function of the flared portion is to facilitate stacking and not to be dumped when transporting the material box. The narrow mouth portion is arranged to rotate around the mounting post, and it is not easy to cause the tray 30 to fall off the mounting post.

取货口50处设有多个安装在机架10上的感应器，多个感应器的设置数量和设置位置与布设在托盘30底部的通孔一致。感应器用于检测托盘30中的货物有无。The pickup port 50 is provided with a plurality of sensors mounted on the frame 10, and the number and arrangement positions of the plurality of sensors are identical to the through holes arranged at the bottom of the tray 30. The sensor is used to detect the presence or absence of cargo in the tray 30.

当某一个托盘30和导向块40相互配合并产生倾斜动作，并将托盘30中的货品展示向取货口50时(见图7至图9所示)，托盘30上的托耳32碰到设置在该工作位的第二限位开关，控制电机停止工作，此时有扫码器扫描托盘上的二维码，确定是否顾客所需要的商品，如果是，设置托盘30下的感应器会扫描每隔托盘30中是不是有商品，主控制单元控制开对应的旋转门63(见下文描述)。When a certain tray 30 and the guide block 40 cooperate with each other and produce a tilting action, and the goods in the tray 30 are displayed toward the take-out port 50 (see FIGS. 7 to 9), the tray 32 on the tray 30 is encountered. The second limit switch is set in the working position, and the control motor stops working. At this time, the scanner scans the two-dimensional code on the tray to determine whether the customer needs the product. If yes, the sensor under the tray 30 is set. Scanning for the presence of merchandise in each of the trays 30, the main control unit controls the corresponding revolving door 63 (see below).

如图19至23所示，取货口50设有自动开关门组件60，自动开关门组件60包括安装在机架10上的与主控制单元电性连接的推杆电机61、摆动件62、由扇形板组成的旋转门63、弹簧64以及安装在机架上的电控锁。自动开关门组件60可实现旋转门的自动开闭，方便顾客选购货物。As shown in FIG. 19 to FIG. 23, the pick-up port 50 is provided with an automatic switch door assembly 60. The automatic switch door assembly 60 includes a push rod motor 61 and a swinging member 62 electrically connected to the main control unit mounted on the frame 10. A revolving door 63 composed of a sector plate, a spring 64, and an electronically controlled lock mounted on the frame. The automatic opening and closing door assembly 60 can realize automatic opening and closing of the revolving door, so that the customer can purchase goods.

推杆电机61的缸体端铰接在机架10上，其活塞端与一折弯杆65固定连接；摆动件62与安装在机架10上的安装座转动连接，摆动件62还与折弯杆65固定连接，旋转门63的顶部与机架10铰接；弹簧64的一端固定安装在旋转门63顶部的机架10上，另一端固定安装在旋转门63的底板上；电控锁设置在关闭状态下旋转门底板的下方，底板上还设有一与电控锁配合使用的磁铁。The cylinder end of the push rod motor 61 is hinged on the frame 10, and the piston end thereof is fixedly connected with a bending rod 65; the swinging member 62 is rotatably connected with the mounting seat mounted on the frame 10, and the swinging member 62 is also bent The rod 65 is fixedly connected, and the top of the revolving door 63 is hinged to the frame 10; one end of the spring 64 is fixedly mounted on the frame 10 at the top of the revolving door 63, and the other end is fixedly mounted on the bottom plate of the revolving door 63; the electronically controlled lock is disposed at In the closed state, the bottom of the revolving door bottom is further provided with a magnet for use with the electric lock.

同时，为了便于连接杆在转动并压紧旋转门63的过程中，降低对旋转门63的损伤，上述摆动件62上设有用于压紧旋转门63并可自由转动的压轮。显然，本实施例还可以通过采用压片、压条、固定压轮等其他结构来代替该可自由转动的压轮，而本实施例对此不作具体的限定和说明。At the same time, in order to facilitate the damage of the revolving door 63 during the rotation and compression of the revolving door 63, the oscillating member 62 is provided with a pressure roller for pressing the revolving door 63 and being freely rotatable. Obviously, the present embodiment can also replace the freely rotatable pressure roller by using other structures such as a pressing piece, a bead, a fixed pressing wheel, and the like, which is not specifically limited and illustrated in this embodiment.

自动开门组件60还包括一与主控制单元连接的传感器，当用户将手伸入售货机内部后，通过传感器对用户手部或手臂的感应后，向主控制单元发送感应信号，以防止主控制单元发送驱动信号而致使旋转门63关闭的现象发生。The automatic door opening assembly 60 further includes a sensor connected to the main control unit. After the user extends the hand into the vending machine, the sensor senses the user's hand or arm and sends a sensing signal to the main control unit to prevent the main control. The phenomenon in which the unit transmits a drive signal causing the revolving door 63 to close occurs.

在本实施例中，旋转门63根据需要可设置为多个(本实施例优选为3个)，且并排安装在机架10上，并在位于打开位置时，均被与摆动件62连接的压轮(本实施例优选为3个)所压紧。In the present embodiment, the revolving door 63 may be provided in plurality (preferably three in the present embodiment) as needed, and is mounted side by side on the frame 10, and is connected to the swinging member 62 when in the open position. The pressure rollers (preferably three in this embodiment) are pressed.

旋转门63的底板优选设置为弧形，以使得底板在转动时能顺利从售货机外部滑入货架内部。The bottom plate of the revolving door 63 is preferably arranged in an arc shape so that the bottom plate can smoothly slide from the outside of the vending machine into the interior of the shelf when rotated.

旋转门63为透明体结构，以用于观察售货机摆放的货物，从而使得用户在购买前，就可以直观的看到旋转门63正对的货物的样貌(如鲜橙、苹果、烤面包等的外观和色泽)，以便于用户进行挑选和决定是否购买。The revolving door 63 is a transparent body structure for observing the goods placed by the vending machine, so that the user can visually see the appearance of the goods facing the revolving door 63 (such as fresh orange, apple, roasted) before purchase. The appearance and color of the bread, etc., so that the user can pick and decide whether to buy.

具体工作过程是：当所述托盘30上的托耳32碰到第二限位开关，控制电机停止工作，此时有扫码器扫描托盘30上的二维码，确定是不是顾客所需要的商品，如果是，所述感应器会扫描托盘30的每个单元格是不是有商品，有商品的那一格对应旋转门63下的电控锁缩回，然后推杆电机61收缩，然后所述旋转门63在所述弹簧64拉动作用下打开一定角度，该角度与所述托盘30的倾斜角度保持一致，对应的旋转门63打开后顾客即可取货；The specific working process is: when the tray 32 on the tray 30 hits the second limit switch, the control motor stops working, and at this time, the scanner scans the two-dimensional code on the tray 30 to determine whether the customer needs it. The product, if yes, the sensor will scan whether each cell of the tray 30 has a product, and the one with the product corresponds to the electronically controlled lock under the revolving door 63, and then the pusher motor 61 is contracted, and then the The revolving door 63 opens at a certain angle under the pulling action of the spring 64, and the angle is consistent with the inclination angle of the tray 30, and the customer can pick up the goods after the corresponding revolving door 63 is opened;

当顾客取走与所述旋转门63对应的托盘30中的货品后，所述感应器检测到对应托盘30中无货品时，所述推杆电机61伸出，并驱动设有压轮的摆动件62转动，所述压轮作用于所述旋转门63并使所述旋转门63关闭，然后电控锁伸出并与设置在底板上的磁铁接触，将所述旋转门63完全关闭。When the customer picks up the goods in the tray 30 corresponding to the revolving door 63, the sensor detects that there is no item in the corresponding tray 30, the push rod motor 61 extends and drives the swing provided with the pressure wheel. The member 62 rotates, the pressure roller acts on the revolving door 63 and closes the revolving door 63, and then the electronically controlled lock projects and contacts the magnet provided on the bottom plate to completely close the revolving door 63.

在本实施例中，补给移送单元3a包括三轴移动机构和与三轴移动机构连接的抓手34a，三轴移动机构可相对于柜体1a的横向、纵向、竖直方向移动，抓手34a用于夹持托盘30。In the present embodiment, the replenishment transfer unit 3a includes a three-axis moving mechanism and a gripper 34a connected to the three-axis moving mechanism, and the three-axis moving mechanism is movable relative to the lateral, longitudinal, and vertical directions of the cabinet 1a, and the grip 34a Used to hold the tray 30.

具体地，三轴移动机构包括第一齿轮齿条导轨35a、第二齿轮齿条导轨31a、第三齿轮齿条导轨11a、抓手安装盘，抓手安装盘与第一齿轮齿条导轨35a连接，第一齿轮齿条导轨35a竖直设置，并通过第一滑块30a与第二齿轮齿条导轨31a滑动配合连接，第一滑块30a与第二齿轮齿条导轨31a滑动配合连接，第二齿轮齿条导轨31a沿柜体1a的纵向水平设置，其两端分别通过第二滑块与第三齿轮齿条导轨11a滑动配合连接，第三齿轮齿条导轨11a沿柜体1a的横向设置；抓手安装盘的两端分别设置有抓手34a。Specifically, the three-axis moving mechanism includes a first rack-and-pinion rail 35a, a second rack-and-pinion rail 31a, a third rack-and-pinion rail 11a, a gripper mounting disc, and the gripper mounting disc is connected to the first rack-and-pinion rail 35a. The first rack-and-pinion rails 35a are vertically disposed, and are slidably coupled to the second rack-and-pinion rails 31a by the first sliders 30a, and the first sliders 30a are slidably coupled with the second rack-and-pinion rails 31a, and the second The rack-and-pinion rails 31a are horizontally disposed along the longitudinal direction of the cabinet 1a, and the two ends thereof are respectively slidably coupled to the third rack-and-pinion rails 11a via the second sliders, and the third rack-and-pinion rails 11a are disposed along the lateral direction of the cabinet 1a; The gripper 34a is respectively disposed at two ends of the gripper mounting plate.

其中，第一齿轮齿条导轨35a包括竖直设置在抓手安装盘上的齿条和导轨，齿条与设置在抓手安装板上的电机一输出轴上的齿轮啮合连接，导轨则与第一滑轨滑动连接，电机一转动，带动抓手安装盘相对于第一滑块30a上下移动，实现竖直方向移动；Wherein, the first rack-and-pinion rail 35a includes a rack and a rail disposed vertically on the gripper mounting plate, and the rack is meshed with the gear on the output shaft of the motor disposed on the gripper mounting plate, and the guide rail is coupled to the first a slide rail is slidably connected, and the motor rotates to drive the gripper mounting disc to move up and down relative to the first slider 30a to realize vertical movement;

第二齿轮齿条导轨31a包括纵向设置的齿轮条33a和导轨32a，第一滑块30a上设置电机二，电机输出轴上通过齿轮与齿条33a啮合连接，通过电机二转动，带动第一滑块30a在导轨32a上来回移动，实现纵向移动；The second rack-and-pinion rail 31a includes a longitudinally disposed gear bar 33a and a guide rail 32a. The first slider 30a is provided with a motor 2, and the motor output shaft is meshed with the rack 33a through a gear, and the second slip is driven by the motor. The block 30a moves back and forth on the guide rail 32a to achieve longitudinal movement;

第三齿轮齿条导轨11a包括横向设置的齿条13a和导轨12a，第二滑块上设置有电机三，电机三通过齿轮组与齿条13a啮合连接，电机三转动，带动第二滑块沿导轨12a来回移动，从而带动第二齿轮齿条导轨31a、第一齿轮齿条导轨35a、抓手34a移动，实现横向移动。The third rack-and-pinion rail 11a includes a rack 13a and a rail 12a disposed laterally. The second slider is provided with a motor 3. The motor 3 is meshed with the rack 13a through the gear set, and the motor rotates three to drive the second slider along the third slider. The guide rail 12a moves back and forth to drive the second rack-and-pinion rail 31a, the first rack-and-pinion rail 35a, and the gripper 34a to move laterally.

进一步地，参照图3、图4所示，图3为抓手夹持状态，图4为抓手张开状态，抓手包括夹爪340a、夹爪安装座341a、拉杆摆杆机构，夹爪340a对称设置于夹爪安装座341a上、且与夹爪安装座341a可相对移动连接，其中，夹爪340a与夹爪安装座341a之间采用燕尾槽结构连接，拉杆摆杆机构的摆杆343a的中部与夹爪安装座341a铰接，拉杆摆杆机构的拉杆342a的一端与摆杆343a的端部铰接，拉杆342a另一端与夹爪340a的上端铰接，摆杆343a的其中一端与驱动杆铰接，摆杆343a转动时，带动夹爪34a相互靠拢夹持或相互远离张开。Further, referring to FIG. 3 and FIG. 4, FIG. 3 is a gripping state of the gripper, and FIG. 4 is a gripping state of the gripper. The gripper includes a gripper 340a, a gripper mount 341a, a rod swinging lever mechanism, and a gripper. The 340a is symmetrically disposed on the jaw mounting seat 341a and is movably coupled to the jaw mounting seat 341a. The clamping jaw 340a and the jaw mounting seat 341a are connected by a dovetail slot structure, and the swing lever 343a of the lever swinging mechanism The middle portion is hinged with the jaw mounting seat 341a, one end of the pull rod 342a of the rod swinging lever mechanism is hinged with the end of the swing rod 343a, the other end of the pull rod 342a is hinged with the upper end of the clamping claw 340a, and one end of the swing rod 343a is hinged with the driving rod When the swinging lever 343a rotates, the driving jaws 34a are brought together to be clamped to each other or to be apart from each other.

在本发明的另一实施例中，自动售货机还包括至少一个加热烘焙单元6a，设置于柜体1a上端，加热烘焙单元6a通过补给移送单元3a与商品存储单元2a、商品摆放货架5a衔接；加热烘焙单元6a与主控制单元连接，加热烘焙单元6a用于加热或烘焙商品；在实际生产应用中，加热烘焙单元6a为烘焙机，烘焙机包括箱本体、支撑板622a、箱门62a、箱门开启机构61a，支撑板622a两侧通过导轨安装于箱本体内，箱门62a盖合在箱本体的开口，并与支撑板622a外端连接，箱门开启机构61a一端固定于箱本体上、另一端与箱门62a连接，箱门开启机构61a与主控制单元连接，箱门开启机构61a用于驱动箱门62a打开或关闭。In another embodiment of the present invention, the vending machine further includes at least one heating and baking unit 6a disposed at the upper end of the cabinet 1a, and the heating and baking unit 6a is coupled to the commodity storage unit 2a and the commodity placement shelf 5a by the supply and delivery unit 3a. The heating and baking unit 6a is connected to the main control unit, and the heating and baking unit 6a is used for heating or baking the product; in the actual production application, the heating and baking unit 6a is a roasting machine, and the roasting machine includes a box body, a support plate 622a, a box door 62a, The door opening mechanism 61a, the support plate 622a is mounted on the two sides of the box body by a rail, the box door 62a is closed to the opening of the box body, and is connected to the outer end of the support plate 622a, and one end of the door opening mechanism 61a is fixed to the box body. The other end is connected to the door 62a, and the door opening mechanism 61a is connected to the main control unit, and the door opening mechanism 61a is used to drive the door 62a to open or close.

其中，导轨优先选用钢珠式隐藏型导轨，具有噪音小，承载力大的优点；支撑板622a上设有用于承载托盘的定位槽，支撑板622a上设置有数个腰形孔；支撑板上设置有腰形通孔，可方便加热装置的热量有效的传递至托盘中，加热效果更佳，支撑板622a、托盘优选选用食品级的耐高温材料制成。Among them, the guide rail is preferably a steel ball type hidden guide rail, which has the advantages of low noise and large bearing capacity; the support plate 622a is provided with a positioning groove for carrying the tray, and the support plate 622a is provided with a plurality of waist-shaped holes; the support plate is provided with The waist-shaped through hole can facilitate the heat transfer of the heating device to the tray, and the heating effect is better. The support plate 622a and the tray are preferably made of food-grade high temperature resistant material.

具体地，箱门开启机构61a包括滑轨611a、伸缩臂、驱动电机612a，滑轨611a设置于烘焙机的箱本体上，在本实施例中，滑轨611a优选设置在箱本体的侧壁上，这样不会干扰烘焙机开口的空间；伸缩臂与滑轨611a配合连接，在本实施例中，滑轨611a可选用钢珠隐藏式滑轨，钢珠隐藏式滑轨的固定座与箱本体连接，可在固定座内滑动的支架杆与伸缩臂连接，或者也可将支架杆直接作为伸缩臂，伸缩臂的前端部通过连接杆614a与烘焙机的箱门62a连接，驱动电机612a固定于箱本体上，并通过齿轮齿条机构与伸缩臂连接，在齿轮齿条机构的驱动下，伸缩臂沿滑轨611a的轴向移动，从而带动箱门62a打开或关闭。Specifically, the door opening mechanism 61a includes a slide rail 611a, a telescopic arm, and a drive motor 612a. The slide rail 611a is disposed on the box body of the roaster, and in the embodiment, the slide rail 611a is preferably disposed on the side wall of the box body. Therefore, the space of the opening of the roasting machine is not disturbed; the telescopic arm is coupled with the sliding rail 611a. In this embodiment, the sliding rail 611a may be a steel bead hidden sliding rail, and the fixing seat of the steel bead hidden sliding rail is connected with the box body. The bracket rod that can slide in the fixed seat is connected with the telescopic arm, or the bracket rod can be directly used as the telescopic arm. The front end portion of the telescopic arm is connected to the box door 62a of the roasting machine through the connecting rod 614a, and the driving motor 612a is fixed to the box body. And connected to the telescopic arm by the rack and pinion mechanism, the telescopic arm is moved along the axial direction of the slide rail 611a under the driving of the rack and pinion mechanism, thereby driving the door 62a to open or close.

齿轮齿条机构包括与驱动电机612a输出轴连接的齿轮和与伸缩臂连接的齿条613a，齿轮与齿条613a啮合连接。The rack and pinion mechanism includes a gear coupled to the output shaft of the drive motor 612a and a rack 613a coupled to the telescopic arm, the gear being meshingly coupled to the rack 613a.

在实际生产应用中，连接杆614a可与箱门62a的外表面的平面中心连接，也可以与箱门62a的端部连接；连接杆614a与箱门62a的外表面的中心连接，可以使支撑板622a两边的导轨受力均匀，保证推拉箱门62a顺畅无阻；当连接杆614a与箱门62a的端部连接时，为了防止单边受力驱动箱门移动时，支撑板622a与导轨之间产生受力不均，容易出现卡顿的问题或需要足够大的驱动力才能驱动箱门移动，在本实施例中，优选地，箱本体的两侧壁上均设置箱门开启机构61a，或一侧壁上设置箱门开启机构61a，另一侧壁上设置从动形式的滑轨；即滑轨611a上均设有伸缩臂，伸缩臂的前端分别通过连接杆614a与箱门62a的端部连接；这两种优选的方式可以使滑轨受力匀称，有利于使用寿命的延长。In actual production applications, the connecting rod 614a may be coupled to the planar center of the outer surface of the box door 62a or to the end of the box door 62a; the connecting rod 614a is coupled to the center of the outer surface of the box door 62a for support The guide rails on both sides of the plate 622a are evenly pressed to ensure that the push-pull box door 62a is smooth and unobstructed; when the connecting rod 614a is connected to the end of the box door 62a, in order to prevent the single-sided force from driving the box door, the support plate 622a and the guide rail are moved. In the present embodiment, preferably, the box door opening mechanism 61a is disposed on both side walls of the box body, or unevenly generated, or a large enough driving force is required to drive the door movement. A door opening mechanism 61a is disposed on one side wall, and a sliding rail in a driven form is disposed on the other side wall; that is, the sliding rail 611a is provided with a telescopic arm, and the front end of the telescopic arm passes through the connecting rod 614a and the end of the box door 62a, respectively. Connections; these two preferred ways can make the slide rails evenly symmetrical, which is beneficial to the extension of service life.

为了防止伸缩臂移动到极限位后，驱动电机612a继续运转造成电机线圈过烧或滑轨611a等部件损坏，本实施例中，还可设置行程控制机构进行控制驱动电机612a的工作，行程控制机构用于在被触发后，控制驱动电机612a停止转动，具体地，行程控制机构包括第一行程开关616a、第二行程开关615a，第一行程开关616a用于在箱门62a处于打开状态时，控制驱动电机612a停止转动；第二行程开关用于在箱门62a处于关闭状态时，控制驱动电机612a停止转动；工作原理是：需打开箱门时，主控制单元控制驱动电机612a正转，使伸缩臂向外伸出，当箱门62a完全打开时，位于驱动电机612a的电机安装座上的第二行程开关615a与伸缩臂后端的触碰块接触，第二行程开关615a被触发，并发送第二触发信号给主控制单元，主控制单元根据第二触发信号控制驱动电机612a停止转动；需关闭箱门时，主控制单元控制驱动电机612a反转，使伸缩臂向内缩回，当箱门62a完全关闭时，位于驱动电机612a的电机安装座上的第一行程开关616a与伸缩臂前端的触碰片接触，第一行程开关616a被触发，并发送第一触发信号给主控制单元，主控制单元根据第一触发信号控制驱动电机612a停止转动。In order to prevent the drive motor 612a from continuing to operate after the telescopic arm is moved to the limit position, the motor coil is over-fired or the slide rail 611a and the like are damaged. In this embodiment, the stroke control mechanism may be further provided to control the operation of the drive motor 612a, and the stroke control mechanism For controlling the driving motor 612a to stop rotating after being triggered, specifically, the stroke control mechanism includes a first stroke switch 616a and a second stroke switch 615a for controlling when the tank door 62a is in an open state. The driving motor 612a stops rotating; the second stroke switch is used to control the driving motor 612a to stop rotating when the box door 62a is in the closed state; the working principle is: when the box door needs to be opened, the main control unit controls the driving motor 612a to rotate forward to make the telescopic The arm extends outwardly. When the door 62a is fully opened, the second stroke switch 615a on the motor mount of the drive motor 612a is in contact with the touch block at the rear end of the telescopic arm, and the second stroke switch 615a is triggered and sent The second trigger signal is sent to the main control unit, and the main control unit controls the driving motor 612a to stop rotating according to the second trigger signal; When the main control unit controls the drive motor 612a to reverse, the telescopic arm is retracted inwardly, and when the door 62a is completely closed, the first stroke switch 616a located on the motor mount of the drive motor 612a and the front end of the telescopic arm are touched. The chip contacts, the first trip switch 616a is triggered, and sends a first trigger signal to the main control unit, and the main control unit controls the drive motor 612a to stop rotating according to the first trigger signal.

本发明的优选方式为，本发明中，还包括一重量检测单元，重量检测单元设置于商品摆放货架5a的前方位置的地面上，在实际生产应用，重量检测单元设置于商品购买区4的地面上；重量检测单元与主控制单元连接，用于触发设置于机架10上的人脸识别装置进行人脸识别。In a preferred embodiment of the present invention, the present invention further includes a weight detecting unit disposed on the ground in front of the product placement shelf 5a. In actual production applications, the weight detecting unit is disposed in the commodity purchasing area 4. On the ground; the weight detecting unit is connected to the main control unit for triggering the face recognition device disposed on the chassis 10 for face recognition.

本发明的自动售货机的工作原理如下：The working principle of the vending machine of the present invention is as follows:

正常情况下，商品摆放货架5a内的传送链条21上悬挂有多个托盘30，托盘30内放置待售卖的包装型商品(即直接可拿走、无需等待加工制作的商品)，当购买的商品为包装型商品时，通过传送链条将托盘传送至导向块的位置，将托盘中的商品展示向取货口，托盘上的托耳碰到设置在该工作位的第二限位开关，控制电机停止转动，传送链条停止，扫码器进行对托盘上的二维码进行扫描，确认是否为消费者已购买的商品，如果是，则将通过托盘下的感应器扫描每隔托盘中是不是有商品，主控制单元控制商品所对应的旋转门打开，以拿出已购买的商品；Normally, a plurality of trays 30 are hung on the transport chain 21 in the product placement shelf 5a, and the packaged products for sale (that is, goods that can be taken directly without waiting for processing) are placed in the tray 30. When the product is a package type product, the tray is conveyed to the position of the guide block by the conveyor chain, and the product in the tray is displayed to the take-out port, and the tray on the tray touches the second limit switch set in the work position, and the control is controlled. When the motor stops rotating and the conveyor chain stops, the scanner scans the QR code on the pallet to confirm whether it is the item that the consumer has purchased. If it is, it will scan through the sensor under the tray every other tray. There is a commodity, and the main control unit controls the revolving door corresponding to the commodity to be opened to take out the purchased product;

当购买的是需烘焙加工的商品时，补给移送单元3a移动至商品存储单元2a的开口处，通过行程开关等检测开关检测补给移送单元3a的抓手已位于开口上方时，主控制单元控制冷藏柜的移动门打开，抓手下降，将处于待抓取位的托盘抓取，并通过三轴移动机构平滑移动至烘焙机位置，烘焙机的箱门通过箱门开启机构被打开，抓手将具有待烘焙加工物料的托盘放入支撑板上，移出至安全位置，主控制单元控制箱门开启机构关闭箱门，并控制烘焙机按照预先设定的加热烘工艺进行烘焙，待烘焙加工完成后，抓手通过三轴移动机构将加工完成的商品的托盘抓取并移动至与消费者待取货的商品摆放货架5a内，消费者通过人脸识别***或者其他具有识别功能的***，将与购买的商品匹配的托盘传送至取货口，主控制单元控制对应的旋转门打开，消费者拿取商品；When the product to be baked is purchased, the replenishment transfer unit 3a moves to the opening of the product storage unit 2a, and the main control unit controls the refrigerating when the gripper of the replenishment transfer unit 3a is positioned above the opening by the detection switch or the like. The moving door of the cabinet is opened, the gripper is lowered, the tray in the position to be grabbed is grasped, and is smoothly moved to the position of the roasting machine by the three-axis moving mechanism, and the box door of the roasting machine is opened by the box door opening mechanism, and the gripper will be The tray having the material to be baked is placed on the support plate and removed to a safe position, and the main control unit controls the door opening mechanism to close the door, and controls the baking machine to be baked according to a preset heating and baking process, after the baking process is completed. The gripper grasps and moves the processed tray of the processed product to the shelf 5a of the product to be picked up by the consumer through the three-axis moving mechanism, and the consumer passes the face recognition system or other system with the recognition function. The pallet matched with the purchased commodity is delivered to the pick-up port, and the main control unit controls the corresponding revolving door to open, and the consumer takes the merchandise;

商品摆放货架5a内空的托盘30回收过程是，当空的托盘30跟随传送链条21移动至机架10顶部正中间的位置(即托盘取放位置)时，此时圆柱2104碰到第一限位开关12，主控制单元控制电机22停止运转，空的托盘停留在托盘取放位置，主控制器控制抓手进行抓取空的托盘30，通过三轴移动机构，将抓手抓取的空的托盘传送至商品存储单元2a内的货架上。The tray 30 recycling process in the product placement shelf 5a is such that when the empty tray 30 moves to the position in the middle of the top of the frame 10 (ie, the tray pick-and-place position) following the conveyance chain 21, the cylinder 2104 hits the first limit. The position switch 12, the main control unit controls the motor 22 to stop running, the empty tray stays in the tray pick-and-place position, the main controller controls the gripper to grasp the empty tray 30, and the grasping hand is grasped by the three-axis moving mechanism. The trays are transferred to the shelves in the product storage unit 2a.

将空的托盘集中在商品存储单元2a内进行替换回收，有利于商品补给和更新的效率。The empty trays are concentrated in the product storage unit 2a for replacement and recycling, which is advantageous for the efficiency of product replenishment and renewal.

本发明的自动售货机通过将商品放置在具有传送链条的商品摆放货架内的托盘内，托盘跟随环形结构的链条在机架上循环移动，可将消费者购买的商品通过链条传送至设置于机架中部位置的取货口，取货口的旋转门在主控制单元的控制下打开，商品直接展现在消费者的眼前，仅站立用手即可从取货口将商品取出，方便快捷，解决了现有技术中传统自动售货机容易卡住商品以及拿取商品不便的问题；具有结构简单，操作方便的优点。The vending machine of the present invention can transport the merchandise purchased by the consumer through the chain to the tray by placing the merchandise in the tray placed in the shelf of the merchandise having the conveying chain, and the pallet follows the chain of the ring structure to circulate on the rack. The pick-up port in the middle position of the rack, the revolving door of the pick-up port is opened under the control of the main control unit, and the merchandise is directly displayed in front of the consumer, and the product can be taken out from the pick-up port only by standing, which is convenient and quick. The invention solves the problems that the conventional vending machine is easy to jam the goods and inconveniences for taking the goods in the prior art; and has the advantages of simple structure and convenient operation.

本发明的自动售货机适用于人流量大的公共场所，比如火车站，汽车站，医院，工厂，商场，地铁站等公共场地，克服了传统售货机的技术缺陷，应用场景广泛，实用性强。The vending machine of the invention is suitable for public places with large traffic flow, such as railway stations, bus stations, hospitals, factories, shopping malls, subway stations and other public places, overcomes the technical defects of the traditional vending machines, has wide application scenarios and is highly practical. .

应当理解，方位词均是结合操作者和使用者的日常操作习惯以及说明书附图而设立的，它们的出现不应当影响本发明的保护范围。It should be understood that the orientation words are established in connection with the daily operating habits of the operator and the user as well as the drawings of the specification, and their occurrence should not affect the scope of protection of the present invention.

以上结合附图实施例对本发明进行了详细说明，本领域中普通技术人员可根据上述说明对本发明做出种种变化例。因而，实施例中的某些细节不应构成对本发明的限定，本发明将以所附权利要求书界定的范围作为本发明的保护范围。The present invention has been described in detail above with reference to the embodiments of the drawings, and various modifications of the invention can be made by those skilled in the art in light of the above description. Therefore, some of the details of the embodiments are not to be construed as limiting the scope of the invention, which is defined by the appended claims.

Claims

自动售货机，其特征在于，包括：柜体、商品存储单元、补给移送单元、商品摆放货架、主控制单元，所述商品存储单元、补给移送单元、商品摆放货架分别与所述主控制单元连接；其中，A vending machine, comprising: a cabinet, a commodity storage unit, a replenishment transfer unit, a merchandise placement shelf, a main control unit, the commodity storage unit, a replenishment transfer unit, a merchandise placement shelf, and the main control Unit connection; among them,

所述商品存储单元、商品摆放货架并排设置于所述柜体中，所述商品存储单元通过所述补给移送单元与所述商品摆放货架衔接；The commodity storage unit and the product placement shelf are arranged side by side in the cabinet, and the commodity storage unit is connected to the commodity placement shelf by the supply and delivery unit;

所述补给移送单元设置于所述柜体的上方，用于在所述商品存储单元与所述商品摆放货架之间移送商品；The replenishment transfer unit is disposed above the cabinet for transferring goods between the commodity storage unit and the merchandise placement shelf;

所述商品摆放货架包括机架、安装于所述机架上两端的传送链条、设置于所述机架前侧壁中部的取货口；The merchandise placement shelf comprises a rack, a conveyor chain installed at two ends of the rack, and a pick-up port disposed at a middle of a front side wall of the rack;

所述传送链条转动设置，用于将盛放有商品的托盘传送至所述取货口，所述托盘两端铰接地与所述传动链条活动连接；The transport chain is rotatably arranged to transport a tray containing the merchandise to the pick-up port, and the two ends of the tray are hingedly connected to the drive chain;

所述商品摆放货架的前方位置为商品购买区。The front position of the merchandise placement shelf is a merchandise purchase area.
根据权利要求1所述的自动售货机，其特征在于，所述传送链条与一传动机构连接，所述传动机构用于驱动所述传送链条相对于所述取货口从下往上转动。The vending machine of claim 1 wherein said conveyor chain is coupled to a transmission mechanism for driving said conveyor chain to rotate from bottom to top relative to said pickup port.
根据权利要求1所述的自动售货机，其特征在于，所述商品摆放货架还包括导向块，所述导向块上设有倾斜设置的导向槽，所述托盘的至少一端侧壁上设有导向柱，所述托盘跟随所述传动链条转动时，所述导向柱与所述导向槽相配合，使所述托盘向所述取货口方向倾斜。The vending machine according to claim 1, wherein the product placement shelf further comprises a guiding block, the guiding block is provided with an inclined guiding groove, and at least one end side wall of the tray is provided a guide post, the guide post cooperates with the guide groove when the tray rotates following the drive chain, so that the tray is inclined toward the pickup port.
根据权利要求2所述的自动售货机，其特征在于，所述传动机构包括第一电机、主动轮以及多个从动轮，所述传动链条包括两条环形的第一传动链条和第二传动链条，所述第一传动链条和第二传动链条分别安装在其对应侧的所述机架上，所述第一传动链条和第二传动链条的四个角均安装有与所述传动链条啮合的从动轮；The vending machine according to claim 2, wherein said transmission mechanism comprises a first motor, a driving wheel and a plurality of driven wheels, said transmission chain comprising two annular first transmission chains and a second transmission chain The first transmission chain and the second transmission chain are respectively mounted on the frame on the corresponding side thereof, and the four corners of the first transmission chain and the second transmission chain are respectively mounted with the transmission chain. driven wheel;

所述第一电机安装在所述机架上的安装板的一侧，且所述第一电机的驱动轴与安装在所述安装板另一侧的主动轮连接，并驱动所述主动轮转动；The first motor is mounted on one side of a mounting plate on the frame, and a drive shaft of the first motor is coupled to a driving wheel mounted on the other side of the mounting plate, and drives the driving wheel to rotate ;

所述主动轮与第一传动链条上的第一从动轮通过第一子链条实现啮合转动，转动的所述主动轮带动所述第一从动轮转动；The driving wheel and the first driven wheel on the first transmission chain realize the meshing rotation by the first sub-chain, and the rotating driving wheel drives the first driven wheel to rotate;

所述第一传动链条上的第一从动轮与第二传动链条的第二从动轮通过传动轴连接，转动的所述第一从动轮带动所述第二从动轮转动。The first driven wheel on the first transmission chain and the second driven wheel of the second transmission chain are connected by a transmission shaft, and the rotating first driven wheel drives the second driven wheel to rotate.
根据权利要求4所述的自动售货机，其特征在于，所述传动机构还包括第一随动轮和第二随动轮；The vending machine according to claim 4, wherein the transmission mechanism further comprises a first follower wheel and a second follower wheel;

所述第一随动轮安装在所述第一传动链条侧的机架上，所述第二随动轮安装在所述第二传动链条侧的机架上；The first follower wheel is mounted on the frame on the side of the first drive chain, and the second follower wheel is mounted on the frame on the side of the second drive chain;

所述第一随动轮和第二随动轮通过传动轴连接，所述第一随动轮、主动轮以及第一从动轮外啮合设有第一子链条，所述第二随动轮以及第二从动轮外啮合设有第二子链条。The first follower wheel and the second follower wheel are connected by a transmission shaft, and the first follower wheel, the driving wheel and the first driven wheel are externally engaged with a first sub-chain, the second follower wheel and the second follower wheel The outer meshing is provided with a second sub-chain.
根据权利要求4或5所述的自动售货机，其特征在于，所述传动机构还包括安装在机架上的第三随动轮，所述第三随动轮设置在所述第二传动链条上第三从动轮的下方；A vending machine according to claim 4 or 5, wherein said transmission mechanism further comprises a third follower wheel mounted on the frame, said third follower wheel being disposed on said second drive chain Below the three driven wheels;

所述第三随动轮和所述第三从动轮外啮合设有第三子链条，所述第三子链条上还设有一圆柱；The third follower wheel and the third driven wheel are externally engaged with a third sub-chain, and the third sub-chain is further provided with a cylinder;

在所述第三子链条侧边，还设有与安装在所述机架上的第一限位开关；And a first limit switch mounted on the frame on the side of the third sub-chain;

当所述第三子链条上的圆柱转动至所述第一限位开关的安装位时，所述圆柱与所述第一限位开关接触设置。When the cylinder on the third sub-chain rotates to the mounting position of the first limit switch, the cylinder is disposed in contact with the first limit switch.
根据权利要求1所述的自动售货机，其特征在于，所述托盘的两侧均设有托耳，所述托耳上设有安装槽，所述安装槽将所述托盘挂接在第一传动链条和第一传动链条上设置的多个安装柱上。The vending machine according to claim 1, wherein the tray is provided with a bracket on both sides thereof, and the bracket is provided with a mounting groove, and the mounting slot mounts the tray at the first The drive chain and the plurality of mounting posts disposed on the first drive chain.
根据权利要求7所述的自动售货机，其特征在于，所述托耳包括上托耳和下托耳；所述上托耳上设有前后对称的第一凹槽，所述上托耳的顶部还设有与所述第一凹槽连通设置的第一通孔；The vending machine according to claim 7, wherein said bracket includes an upper bracket and a lower bracket; said upper bracket is provided with a first groove symmetrical in front and rear, said upper bracket The top portion is further provided with a first through hole disposed in communication with the first groove;

所述下托耳上设有第二凹槽，所述第二凹槽与所述上托耳外部形状相匹配；a second groove is disposed on the lower bracket, and the second groove is matched with an outer shape of the upper bracket;

所述安装槽包括窄口部以及与所述窄口部连通设置的扩口部，所述窄口部卡合在所述安装柱上，所述扩口部的下方呈开口状。The mounting groove includes a narrow mouth portion and a flared portion that communicates with the narrow mouth portion, the narrow mouth portion is engaged with the mounting post, and the flared portion has an opening shape below.
根据权利要求1所述的自动售货机，其特征在于，所述取货口处设有多个安装在机架上的感应器，多个所述感应器的设置数量和设置位置与布设在所述托盘底部的通孔一致。The vending machine according to claim 1, wherein the pickup port is provided with a plurality of sensors mounted on the frame, and the number and arrangement positions of the plurality of sensors are arranged in the rack The through holes at the bottom of the tray are the same.
根据权利要求1所述的自动售货机，其特征在于，所述取货口设有与主控制单元电性连接的自动开关门组件，所述自动开关门组件包括安装在机架上且与主控制单元电性连接的推杆电机、摆动件、由扇形板组成的旋转门、弹簧以及电控锁；The vending machine according to claim 1, wherein said pick-up port is provided with an automatic switch door assembly electrically connected to the main control unit, said automatic switch door assembly comprising a rack mounted on the rack and a push rod motor electrically connected to the control unit, a swinging member, a revolving door composed of a sector plate, a spring, and an electric lock;

所述推杆电机的缸体端铰接在所述机架上，其活塞端与一折弯杆固定连接；The cylinder end of the push rod motor is hinged on the frame, and the piston end thereof is fixedly connected with a bending rod;

所述摆动件与安装在机架上的安装座转动连接，所述摆动件还与所述折弯杆固定连接，所述摆动件上还设有作用于所述旋转门顶板的压轮；The oscillating member is rotatably connected to the mounting seat mounted on the frame, the oscillating member is also fixedly connected to the bending rod, and the oscillating member is further provided with a pressure roller acting on the top plate of the revolving door;

所述旋转门的顶部与机架铰接；The top of the revolving door is hinged to the frame;

所述弹簧的一端固定安装在所述摆动件上，另一端固定安装在所述旋转门的底板上；One end of the spring is fixedly mounted on the swinging member, and the other end is fixedly mounted on the bottom plate of the revolving door;

所述电控锁设置在关闭状态下所述旋转门底板的下方，所述底板上还设有一与所述电控锁配合使用的磁铁。The electric lock is disposed under the revolving door bottom plate in a closed state, and the bottom plate is further provided with a magnet for use with the electric lock.
根据权利要求10所述的自动售货机，其特征在于，所述商品摆放货架还包括一壳体，所述壳体罩在所述机架的外部；所述壳体上设有一便于观察货物的透明区域。The vending machine according to claim 10, wherein said merchandise placement shelf further comprises a casing, said casing being disposed on an outer portion of said frame; said casing being provided with an article for viewing goods Transparent area.
根据权利要求1所述的自动售货机，其特征在于，所述补给移送单元包括三轴移动机构和与所述三轴移动机构连接的抓手，所述三轴移动机构可相对于所述柜体的横向、纵向、竖直方向移动，所述抓手用于夹持所述托盘。The vending machine according to claim 1, wherein said replenishing transfer unit comprises a three-axis moving mechanism and a gripper coupled to said three-axis moving mechanism, said three-axis moving mechanism being rotatable relative to said cabinet The body moves in a lateral, longitudinal, vertical direction, and the gripper is used to grip the tray.
根据权利要求12所述的自动售货机，其特征在于，所述三轴移动机构包括第一齿轮齿条导轨、第二齿轮齿条导轨、第三齿轮齿条导轨、抓手安装盘，所述抓手安装盘与所述第一齿轮齿条导轨连接，所述第一齿轮齿条导轨竖直设置，并通过第一滑块与所述第二齿轮齿条导轨滑动配合连接，所述第一滑块与所述第二齿轮齿条导轨滑动配合连接，所述第二齿轮齿条导轨沿所述柜体的纵向设置，两端分别通过第二滑块与所述第三齿轮齿条导轨滑动配合连接，所述第三齿轮齿条导轨沿所述柜体的横向设置；所述抓手安装盘的两端分别设置有所述抓手。The vending machine according to claim 12, wherein the three-axis moving mechanism comprises a first rack-and-pinion rail, a second rack-and-pinion rail, a third rack-and-pinion rail, and a gripper mounting disc, a gripper mounting plate is coupled to the first rack and pinion rail, the first rack and pinion rail is vertically disposed, and is slidably coupled to the second rack and pinion rail by a first slider, the first a slider is slidably coupled to the second rack-and-pinion rail, the second rack-and-pinion rail is disposed along a longitudinal direction of the cabinet, and the two ends are respectively slid by the second slider and the third rack-and-pinion rail The third gear rack rail is disposed along a lateral direction of the cabinet; the two ends of the grip mounting disc are respectively provided with the gripper.
根据权利要求13所述的自动售货机，其特征在于，所述抓手包括夹爪、夹爪安装座、拉杆摆杆机构，所述夹爪对称设置于所述夹爪安装座上、且与所述夹爪安装座可相对移动连接，所述拉杆摆杆机构的摆杆中部与所述夹爪安装座铰接，所述拉杆摆杆机构的拉杆一端与所述摆杆的端部铰接，所述拉杆另一端与所述夹爪的上端铰接，所述摆杆的其中一端与驱动杆铰接，所述摆杆转动时，带动所述夹爪相互靠拢夹持或相互远离张开。The vending machine according to claim 13, wherein the gripper comprises a jaw, a jaw mounting seat, and a lever swinging lever mechanism, wherein the jaw is symmetrically disposed on the jaw mounting seat, and The jaw mounting seat is relatively movably connected, and a middle portion of the swing rod of the rod swinging lever mechanism is hinged with the jaw mounting seat, and one end of the pulling rod of the rod swinging rod mechanism is hinged with an end of the swing rod. The other end of the rod is hinged with the upper end of the jaw, and one end of the swing rod is hinged with the driving rod, and when the swing rod rotates, the jaws are driven to clamp together or away from each other.
根据权利要求1所述的自动售货机，其特征在于，还包括加热烘焙单元，设置于所述柜体上端，所述加热烘焙单元通过所述补给移送单元与所述商品存储单元、商品摆放货架衔接；所述加热烘焙单元与所述主控制单元连接，所述加热烘焙单元用于加热或烘焙商品。The vending machine according to claim 1, further comprising a heating and baking unit disposed at an upper end of the cabinet, wherein the heating and baking unit is disposed by the supply and delivery unit and the commodity storage unit and the commodity The shelf is coupled; the heated bake unit is coupled to the main control unit for heating or baking the merchandise.
根据权利要求15所述的自动售货机，其特征在于，所述加热烘焙单元包括烘焙机，所述烘焙机包括箱本体、支撑板、箱门、箱门开启机构，所述支撑板两侧通过导轨安装于所述箱本体内，所述箱门盖合在所述箱本体的开口，并与所述支撑板外端连接，所述箱门开启机构一端固定于所述箱本体上、另一端与所述箱门连接，所述箱门开启机构与所述主控制单元连接，所述箱门开启机构用于驱动所述箱门打开或关闭。The vending machine according to claim 15, wherein said heating and baking unit comprises a roaster, said roaster comprising a box body, a support plate, a box door, and a door opening mechanism, both sides of said support plate passing The rail is mounted in the box body, the box door is closed to the opening of the box body, and is connected to the outer end of the support board, and one end of the box door opening mechanism is fixed on the box body and the other end Connected to the box door, the box door opening mechanism is connected to the main control unit, and the box door opening mechanism is used to drive the box door to open or close.
根据权利要求15所述的自动售货机，其特征在于，所述箱门开启机构包括滑轨、伸缩臂、驱动电机，所述滑轨设置于烘焙机的箱本体上，所述伸缩臂与所述滑轨配合连接，所述伸缩臂的前端部通过连接杆与烘焙机的箱门连接；所述驱动电机固定于烘焙机的箱本体上，并通过齿轮齿条机构与所述伸缩臂连接，所述驱动电机与主控制单元电连接，所述主控制单元用于控制驱动电机转动，从而带动伸缩臂沿所述滑轨轴向移动，使烘焙机的箱门打开或关闭。The vending machine according to claim 15, wherein the door opening mechanism comprises a slide rail, a telescopic arm, and a drive motor, and the slide rail is disposed on a box body of the roaster, the telescopic arm and the The slide rail is coupled, and the front end portion of the telescopic arm is connected to the box door of the roasting machine through a connecting rod; the driving motor is fixed on the box body of the roasting machine, and is connected to the telescopic arm through a rack and pinion mechanism. The driving motor is electrically connected to the main control unit, and the main control unit is configured to control the rotation of the driving motor to drive the telescopic arm to move axially along the sliding rail to open or close the door of the baking machine.
根据权利要求15所述的自动售货机，其特征在于，所述箱门开启机构还包括第一行程开关、第二行程开关，所述第一行程开关、第二行程开关分别与所述主控制单元连接，所述第一行程开关用于在所述烘焙机的箱门处于打开状态时，控制所述驱动电机停止转动；第二行程开关用于在所述烘焙机的箱门处于关闭状态时，控制所述驱动电机停止转动。The vending machine according to claim 15, wherein the door opening mechanism further comprises a first travel switch and a second travel switch, wherein the first travel switch and the second travel switch are respectively associated with the main control a unit connection, the first travel switch is configured to control the drive motor to stop rotating when the box door of the roaster is in an open state; and the second travel switch is used when the box door of the roaster is in a closed state And controlling the drive motor to stop rotating.
根据权利要求1-18任一项所述的自动售货机，其特征在于，还包括一重量检测单元，所述重量检测单元设置于所述商品摆放货架的前方位置的地面上，所述重量检测单元与所述主控制单元连接，用于触发设置于所述机架上的人脸识别装置进行人脸识别。A vending machine according to any one of claims 1 to 18, further comprising a weight detecting unit, said weight detecting unit being disposed on a floor in front of said article placing shelf, said weight The detecting unit is connected to the main control unit, and is configured to trigger a face recognition device disposed on the rack to perform face recognition.
根据权利要求19所述的自动售货机，其特征在于，所述商品存储单元为冷藏柜，所述冷藏柜的上端设置开口与所述补给移送单元衔接，所述开口设有移动门，所述移动门可相对开口滑动而打开或盖合所述开口。The vending machine according to claim 19, wherein the commodity storage unit is a refrigerated cabinet, and an upper end of the refrigerating cabinet is provided with an opening to engage with the replenishment transfer unit, and the opening is provided with a moving door, The moving door is slidable relative to the opening to open or close the opening.
根据权利要求1或20所述的自动售货机，其特征在于，所述商品存储单元内设置有所述商品摆放货架。A vending machine according to claim 1 or 20, wherein said article storage unit is provided with said article storage shelf.