A vending robot

Abstract

The present invention provides an automatic vending robot, including a cabinet, a delivery port is provided on the cabinet, a picking device, a delivery device and a walking device are also provided on the cabinet; the delivery device includes a baffle plate arranged on the delivery port, the baffle plate is connected to a third driving device driving the baffle plate to reciprocate, a movable plate is provided below the delivery port, the movable plate is connected to a fourth driving device driving the movable plate to reciprocate, the movable plate is connected to a transmission wheel for rotation, and the transmission wheel is connected to a fifth driving device driving the movable plate to rotate. Due to the adoption of the above technical scheme, compared with the prior art, the advantages of the present invention are: 1. The isolation measures between the inside and outside of the cabinet can maintain the temperature inside the cabinet, and ice cream products are not easy to melt, which does not affect sales; 2. It is specially used for the storage and sales of ice cream products, and the internal structure of the vending machine is suitable for storing and outputting ice cream products, and the size is small.

Description

Technical Field

[0001] The present invention relates to the technical field of vending equipment.

[0002] Specifically, it involves an automatic vending robot used for selling ice cream. Background Art

[0003] A vending machine (VEM) is a machine that can automatically pay for goods according to the coins inserted. Vending machines are commonly used equipment for commercial automation. They are not restricted by time and place, can save manpower and facilitate transactions. It is a new form of commercial retail, also known as a 24-hour mini supermarket. At present, there are four common vending machines in China: beverage vending machines, food vending machines, comprehensive vending machines, and cosmetics vending machines.

[0004] The prior art has the following disadvantages:

[0005] 1. The temperature inside and outside the cabinet is the same, and ice cream products are easy to melt, affecting sales;

[0006] 2. The internal structure of the existing vending machine is not suitable for storing and outputting ice cream products. The size of the vending machine is large and the inventory of ice cream products is small.

[0007] 3. Existing vending machines can only be placed in fixed locations and must occupy a certain fixed commercial space.

[0008] 4. Due to commercial space planning, existing vending machines are mainly placed in corners or against walls, resulting in a low sense of presence and customers often ignore them. Summary of the invention

[0009] The purpose of the present invention is to overcome the shortcomings of the above-mentioned traditional technology and provide an automatic vending robot for selling ice cream.

[0010] The purpose of the present invention is achieved through the following technical measures:

[0011] An automatic vending robot comprises a cabinet, the cabinet is provided with a delivery port, the cabinet is also provided with a picking device, a delivery device and a walking device;

[0012] The delivery device includes a baffle plate arranged on the delivery port, the baffle plate is transmission-connected with a third drive device for driving the baffle plate to reciprocate, a movable plate is arranged under the delivery port, the movable plate is transmission-connected with a fourth drive device for driving the reciprocating motion, a transmission wheel is rotatably connected to the movable plate, and the transmission wheel is transmission-connected with a fifth drive device for driving the transmission wheel to rotate.

[0013] As an improvement: the picking device includes a first screw and a first guide column arranged in the cabinet, the first screw and the first guide column are both arranged vertically, a picking plate is slid on the first guide column, the picking plate is threadedly connected to the first screw, the first screw is transmission connected to a first driving device that drives it to rotate, a second screw and a second guide column are also arranged in the cabinet, the second screw and the second guide column are both arranged horizontally, a pushing plate is slidably connected to the second guide column, the pushing plate is threadedly connected to the second screw, and the second screw is transmission connected to a second driving device that drives it to rotate.

[0014] As an improvement: the walking device includes a walking wheel, and the walking wheel is transmission-connected to a sixth driving device for driving the walking wheel to rotate.

[0015] As an improvement: the first driving device includes a first motor, the first motor is located at the lower part of the cabinet, a second bevel gear is provided at the output end of the first motor, a first bevel gear is provided at the lower part of the first screw, and the first bevel gear is meshed with the second bevel gear.

[0016] As an improvement: the second driving device includes a second motor, the second screw is connected to the output end of the second motor, a motor bracket is provided in the cabinet, the second motor is arranged on the motor bracket, a support frame is provided on the motor bracket, and the second guide column is arranged on the support frame.

[0017] As an improvement: a push claw is provided at the lower part of the pushing plate.

[0018] As an improvement: a support plate is provided on the cabinet, a mounting rod is provided on the support plate, a mounting plate is provided on the mounting rod, and the third driving device is arranged on the mounting plate.

[0019] As an improvement: a guide rail is provided on the cabinet, the guide rail is vertically arranged, the movable plate is slidably connected to the guide rail, a slider is provided on the guide rail, and the movable plate is connected to the slider.

[0020] As an improvement: a movable plate connecting rod is provided between the movable plate and the sliding block.

[0021] As an improvement: the fourth driving device includes a third motor, the output end of the third motor is transmission-connected with a third screw rod, and the movable plate is threadedly connected to the third screw rod.

[0022] As an improvement: the fifth driving device includes a fourth motor, and a belt is provided between the fourth motor and the transmission wheel.

[0023] Due to the adoption of the above technical solution, compared with the prior art, the advantages of the present invention are:

[0024] 1. The cabinet is isolated from the outside to maintain the temperature inside the cabinet. Ice cream products are not easy to melt and sales are not affected.

[0025] 2. Specially used for the storage and sales of ice cream products. The internal structure of the vending machine is suitable for storing and outputting ice cream products. It is small in size and has a large inventory of ice cream products.

[0026] 3. Vending robots do not occupy fixed commercial spaces, but realize mobile retail during intelligent cruising, bringing convenience to customers.

[0027] 4. Vending robots can be placed anywhere humans can walk, and their novel appearance and sense of technology can attract customers and increase sales.

[0028] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Attached Figure 1 It is a structural schematic diagram of an automatic vending robot of the present invention.

[0030] Attached Figure 2 yes Figure 1 Schematic diagram of the structure of the delivery device in the middle section AA.

[0031] Attached Figure 3 It is a schematic diagram of the internal structure of an automatic vending robot of the present invention.

[0032] Attached Figure 4 yes Figure 3 Schematic diagram of the structure of the picking device in the middle section BB.

[0033] Attached Figure 5 It is a schematic structural diagram of a first motor in an automatic vending robot of the present invention.

[0034] Attached Figure 6 The present invention is a schematic diagram of the connection relationship between the camera, the industrial control host, the motor driver and the steering motor in an automatic vending robot.

[0035] In the figure: 1-cabinet; 2-first nut; 3-first guide sleeve; 4-lifting plate; 5-support frame; 6-second motor; 7-motor bracket; 8-shipping port; 9-cargo; 10-first guide column; 11-first screw rod; 12-first motor; 13-second guide column; 14-second guide sleeve; 15-second screw rod; 16-second nut; 17-push plate; 18-push claw; 19-first bevel gear; 20-second bevel gear; 21-baffle ; 22-guide rail; 23-support plate; 24-slider; 25-mounting plate; 26-movable plate connecting rod; 27-third screw; 28-third motor; 29-movable plate; 30-transmission wheel; 31-belt; 32-fourth motor; 33-mounting rod; 34-cylinder; 35-through slot; 36-travel wheel; 37-fifth motor; 38-steering wheel; 39-camera; 40-industrial control host; 41-motor driver; 42-steering motor. DETAILED DESCRIPTION

[0036] Example: As attached Figures 3 to 5 As shown, an automatic vending robot comprises a cabinet 1 , and a delivery port 8 is provided on the cabinet 1 .

[0037] The cabinet 1 is also provided with a picking device, a delivery device and a walking device;

[0038] The picking device includes a first screw 11 and a first guide column 10 arranged in the cabinet 1, the first screw 11 and the first guide column 10 are both vertically arranged, the first guide column 10 is slidably connected with a picking plate 4, the picking plate 4 is threadedly connected to the first screw 11, and the first screw 11 is transmission-connected to a first driving device that drives it to rotate.

[0039] Goods 9 are placed on the pick-up plate 4 , and the first screw 11 rotates to drive the pick-up plate 4 to move upward, thereby lifting the goods 9 to the delivery port 8 .

[0040] The first driving device includes a first motor 12 , and the first motor 12 is located at the lower part of the cabinet 1 .

[0041] The first motor 12 outputs power to drive the first screw 11 to rotate.

[0042] A second bevel gear 20 is disposed at the output end of the first motor 12 , and a first bevel gear 19 is disposed at the lower portion of the first screw rod 11 . The first bevel gear 19 meshes with the second bevel gear 20 .

[0043] The second bevel gear 20 cooperates with the first bevel gear 19 to transmit the power output by the first motor 12 to the first screw 11, thereby driving the first screw 11 to rotate.

[0044] The pick-up plate 4 is provided with a first guide sleeve 3 , which is sleeved on a first guide column 10 . The pick-up plate 4 is also provided with a first nut 2 matched with a first screw rod 11 .

[0045] The pick-up plate 4 is slidably connected to the first guide column 10 through the first guide sleeve 3, and the pick-up plate 4 is threadedly connected to the first screw rod 11 through the first nut 2

[0046] The number of the first screw rod 11 is one, and the number of the first guide pillars 10 is five.

[0047] A second screw 15 and a second guide column 13 are also provided in the cabinet 1. The second screw 15 and the second guide column 13 are both horizontally arranged. A pushing plate 17 is slidably connected to the second guide column 13. The pushing plate 17 is threadedly connected to the second screw 15. The second screw 15 is transmission-connected to a second driving device that drives it to rotate.

[0048] The second screw 15 rotates to drive the pushing plate 17 to move, pushing the goods 9 out of the delivery port 8.

[0049] The second driving device includes a second motor 6 , and the second screw rod 15 is connected to an output end of the second motor 6 .

[0050] A motor bracket 7 is provided in the cabinet 1 , and the second motor 6 is arranged on the motor bracket 7 .

[0051] The motor bracket 7 is provided with a support frame 5, and the second guide column 13 is provided on the support frame 5. One end of the second guide column 13 is connected to the support frame 5, and the other end of the second guide column 13 is connected to the cabinet 1.

[0052] The cargo pushing plate 17 is provided with a second guide sleeve 14 , and the second guide sleeve 14 is sleeved on the second guide column 13 . The cargo pushing plate 17 is also provided with a second nut 16 matched with the second screw rod 15 .

[0053] A push claw 18 is provided at the lower part of the pushing plate 17 .

[0054] The pusher claw 18 pushes the goods 9 out of the delivery port 8.

[0055] The use process of the present invention is that the first motor 12 rotates, driving the first screw 11 to rotate, and the first screw 11 drives the pick-up plate 4 to rise. When the goods 8 rise to the delivery port 8, the first motor 12 stops working. At this time, the second motor 6 starts, driving the push plate 17 to move, and pushes the goods 9 out of the delivery port 8.

[0056] As attached Figure 1 , 2As shown, the delivery device includes a baffle 21 arranged on the delivery port 8, and the baffle 21 is transmission-connected to a third driving device for driving the baffle 21 to reciprocate.

[0057] Specifically, the cabinet 1 is provided with a support plate 23, the support plate 23 is provided with a mounting rod 33, the mounting rod 33 is provided with a mounting plate 25, and the third driving device is arranged on the mounting plate 25. The third driving device includes a cylinder 34.

[0058] When shipment is required, the cylinder 34 contracts to move the baffle 21 away from the shipment port 8; when shipment is not required, the cylinder 34 extends to block the baffle 21 at the shipment port 8 to prevent hot air from outside from entering the cabinet 1, which is beneficial to maintaining the temperature inside the cabinet 1.

[0059] A movable plate 29 is provided below the delivery port 8, and the movable plate 29 is transmission-connected to a fourth driving device for driving the movable plate 29 to reciprocate.

[0060] Specifically, the cabinet body 1 is provided with a guide rail 22 , the guide rail 22 is vertically arranged, and the movable plate 29 is slidably connected to the guide rail 22 .

[0061] The guide rail 22 is provided with a slider 24 , and the movable plate 29 is connected to the slider 24 .

[0062] A movable plate connecting rod 26 is provided between the movable plate 29 and the slider 24 .

[0063] The support plate 23 is provided with a through slot 35 , through which the movable plate connecting rod 26 passes.

[0064] The fourth driving device comprises a third motor 28 , an output end of the third motor 28 is drivingly connected to a third screw rod 27 , and the movable plate 29 is threadedly connected to the third screw rod 27 .

[0065] The movable plate 29 is rotatably connected with a transmission wheel 30 , and the transmission wheel 30 is transmission-connected with a fifth driving device for driving the transmission wheel 30 to rotate.

[0066] Specifically, the fifth driving device includes a fourth motor 32. The fourth motor 32 is disposed on the movable plate connecting rod 26.

[0067] A belt 31 is provided between the fourth motor 32 and the transmission wheel 30 .

[0068] When the goods need to be shipped, the cylinder 34 contracts to move the baffle 21 away from the shipping port 8, and the third motor 28 is started, the movable plate 29 moves upward, and the upper side of the conveying wheel 30 approaches the shipping port 8. After the goods 9 come out of the shipping port 8, they fall onto the conveying wheel 30, and the fourth motor 32 is started to move the goods 9 out. When the goods do not need to be shipped, the movable plate 29 moves downward, the conveying wheel 30 leaves the shipping port 8, and the third motor 28 and the fourth motor 32 are turned off.

[0069] The walking device comprises two walking wheels 36 and a steering wheel 38 , and the walking wheels 36 are connected to a sixth driving device for driving the walking wheels 36 to rotate. The sixth driving device comprises a fifth motor 37 .

[0070] As attached Figure 6 As shown, the cabinet 1 is provided with a camera 39 , and the camera 39 is electrically connected to an industrial control host 40 .

[0071] The cabinet 1 is also provided with a steering motor 42 for steering the steering wheel 38 . The steering motor 42 is electrically connected to a motor driver 41 , and the motor driver 41 is electrically connected to an industrial control host 40 .

[0072] Its working principle is: when the cabinet 1 moves forward, the camera 39 captures the feature points of the running trajectory and builds a map, and the built map is transmitted to the industrial control host 40. The industrial control host 40 uses visual analysis, inertial navigation, IMU data and their weights for comprehensive analysis, and then uses the SLAM algorithm to process the drive information and send the drive information to the motor driver 41. The motor driver 41 uses the received drive information to drive the steering motor 42 to achieve visual positioning navigation.

[0073] The above-mentioned camera 39, industrial control host 40, motor driver 41, and steering motor 42 all adopt existing technologies and will not be described in detail here.

[0074] The above describes several embodiments of the present invention in detail, but the contents are only preferred embodiments of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of application of the present invention should fall within the scope of the patent coverage of the present invention.

Claims

1. An automatic vending robot, comprising a cabinet (1), wherein the cabinet (1) is provided with a delivery port (8), characterized in that: The cabinet (1) is also provided with a picking device, a delivery device and a walking device; The delivery device comprises a baffle (21) arranged on the delivery port (8), the baffle (21) being transmission-connected to a third driving device for driving the baffle (21) to reciprocate, a movable plate (29) being transmission-connected to a fourth driving device for driving the movable plate (29) to reciprocate, a transmission wheel (30) being rotationally connected to the movable plate (29), and the transmission wheel (30) being transmission-connected to a fifth driving device for driving the movable plate (29) to rotate; The cargo-lifting device comprises a first screw rod (11) and a first guide column (10) which are arranged in the cabinet (1); the first screw rod (11) and the first guide column (10) are both arranged vertically; a cargo-lifting plate (4) is slidably mounted on the first guide column (10); the cargo-lifting plate (4) is threadedly connected to the first screw rod (11); the first screw rod (11) is drivingly connected to a first driving device for driving the first screw rod to rotate; a second screw rod (15) and a second guide column (13) are also arranged in the cabinet (1); the second screw rod (15) and the second guide column (13) are both arranged horizontally; a cargo-pushing plate (17) is slidably connected to the second guide column (13); the cargo-pushing plate (17) is threadedly connected to the second screw rod (15); the second screw rod (15) is drivingly connected to a second driving device for driving the second screw rod to rotate; The first driving device comprises a first motor (12), the first motor (12) being located at the bottom of the cabinet (1), a second bevel gear (20) being provided at the output end of the first motor (12), a first bevel gear (19) being provided at the bottom of the first screw rod (11), the first bevel gear (19) being meshed with the second bevel gear (20); The second driving device comprises a second motor (6), the second screw rod (15) is connected to the output end of the second motor (6), a motor bracket (7) is provided in the cabinet (1), the second motor (6) is arranged on the motor bracket (7), a support frame (5) is provided on the motor bracket (7), and the second guide column (13) is arranged on the support frame (5); A push claw (18) is provided at the lower part of the pushing plate (17).

2. The vending robot according to claim 1, characterized in that: The walking device comprises a walking wheel (36), and the walking wheel (36) is transmission-connected to a sixth driving device for driving the walking wheel (36) to rotate.

3. The vending robot according to claim 1, characterized in that: The cabinet (1) is provided with a support plate (23), the support plate (23) is provided with a mounting rod (33), the mounting rod (33) is provided with a mounting plate (25), and the third driving device is arranged on the mounting plate (25).

4. The vending robot according to claim 1, characterized in that: The cabinet (1) is provided with a guide rail (22), the guide rail (22) is arranged vertically, the movable plate (29) is slidably connected to the guide rail (22), the guide rail (22) is provided with a slider (24), and the movable plate (29) is connected to the slider (24).

5. The vending robot according to claim 4, characterized in that: A movable plate connecting rod (26) is provided between the movable plate (29) and the sliding block (24).

6. The vending robot according to any one of claims 1 to 4, characterized in that: The fourth driving device comprises a third motor (28), the output end of the third motor (28) is drivingly connected to a third screw rod (27), and the movable plate (29) is threadedly connected to the third screw rod (27).

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