A vending device and method

Abstract

The present invention relates to the technical field of vending, and discloses a vending device and method without a salesperson. The vending device without a salesperson includes: a cabinet; a motion module, a grasping mechanism and a delivery mechanism are arranged in the cabinet. The motion module is connected to the grasping mechanism and is used to drive the grasping mechanism to move in the cabinet. The grasping mechanism is used to sequentially grasp target goods from the rear side to the front side of the cabinet and place them on the delivery mechanism. A pick-up opening is arranged at one end of the cabinet where the delivery mechanism is located. The vending device and method provided by the present invention are provided with a motion module to facilitate the movement of the grasping mechanism in the cabinet, and to facilitate the movement of the grasping mechanism to the target goods and the delivery mechanism; the grasping mechanism is provided to effectively and firmly grasp the target goods and smoothly send the target goods to the delivery mechanism, which can ensure the smoothness of the goods during the shipping process and avoid damage to the goods.

Description

Technical Field

[0001] The present invention relates to the technical field of vending, and particularly to a vending device and method without a salesperson. Background Art

[0002] With the advent of the unmanned era, numerous "unmanned" intelligent industries have emerged, such as unmanned restaurants, unmanned factories, driverless vehicles, unmanned transportation, etc., which have completely refreshed people's understanding of intelligent industries. Unmanned convenience stores (retail) are favored by more and more enterprises and consumers because they meet the needs of consumers for convenient consumption. Compared with traditional retail, they reduce the floor area and personnel costs; they can collect and analyze the behavior data of consumers, facilitating precise marketing, thus reducing the requirements for inventory, being able to achieve true small and beautiful, enhancing the shopping experience of consumers, and shortening the time cost.

[0003] In existing vending machines, during the process of selling goods, usually, through structural adjustment of the drawers on the shelf, the goods are dropped from the shelf onto the conveying device to achieve the extraction of the goods. In this way, it is feasible for ordinary goods because the risk of damage to the goods does not need to be considered. However, for goods with relatively high transportation requirements such as electronic consumer products, the existing method of extracting goods is obviously inoperable and is extremely likely to increase the probability of damage to the goods.

[0004] Therefore, considering the safety of the goods and the precise picking and placing of the goods, there is an urgent need for a vending machine device that can pick and place goods freely and effectively avoid damage to the goods during the extraction process. Summary of the Invention

[0005] (I) Technical Problems to be Solved

[0006] The purpose of the present invention is to provide a vending device and method without a salesperson, which is used to solve or partially solve the problem that existing vending machines are likely to increase the probability of damage to goods.

[0007] (II) Technical Solutions

[0008] To solve the above technical problems, according to the first aspect of the present invention, a vending device without a salesperson is provided, including: a cabinet; a motion module, a grasping mechanism, and a delivery mechanism are arranged in the cabinet. The motion module is connected to the grasping mechanism and is used to drive the grasping mechanism to move in the cabinet. The grasping mechanism is used to sequentially grasp target goods from the rear side to the front side of the cabinet and place them on the delivery mechanism. A pick-up opening is arranged at one end of the cabinet where the delivery mechanism is located.

[0009] On the basis of the above solution, a goods shelf is arranged inside the cabinet. The goods shelf includes a plurality of cargo channels distributed in the direction from the front side to the rear side of the cabinet, and the plurality of cargo channels form a multi-layer and multi-column structure; the widths of different cargo channels are the same or different, and the heights of different cargo channels are the same or different.

[0010] On the basis of the above solution, the motion module at least includes a first moving shaft arranged along the width direction of the goods shelf and a second moving shaft arranged along the height direction of the goods shelf. The first moving shaft and the second moving shaft are used to drive the grasping mechanism to move along the width direction and the height direction of the goods shelf; the grasping mechanism includes a suction cup or a manipulator.

[0011] On the basis of the above solution, the grasping mechanism further includes a support plate and a pushing mechanism; the suction cup is arranged on the support plate, one end of the support plate is connected to the motion module, and when the support plate moves to the rear side of the goods shelf, the other end is connected to the rear end of the cargo channel. The rear end of the suction cup is connected to the pushing mechanism, and the pushing mechanism is used to push the suction cup to move along the cargo channel.

[0012] On the basis of the above solution, the pushing mechanism includes a driving cart. Guide rails are arranged on the support plate and each cargo channel in the direction from the front side to the rear side of the cabinet, and when the support plate moves to the rear end of any cargo channel, the guide rail on this cargo channel is connected to the guide rail on the support plate. The driving cart is slidably connected to the guide rail on the support plate, the suction cup is arranged at the front end of the driving cart, and the driving cart is connected to a first driving motor; or the pushing mechanism includes a telescopic rod. The telescopic rod is arranged in the direction from the front side to the rear side of the cabinet, the front end of the telescopic rod is connected to the suction cup, and the rear end of the telescopic rod is connected to a second driving motor.

[0013] On the basis of the above solution, the pushing mechanism includes a push-pull belt; one end of the push-pull belt is connected to a rotating motor, the winding disc of the push-pull belt is a disc structure, the other end of the push-pull belt is connected to the rear end of the suction cup, and a snap ring structure is arranged along the moving path of the suction cup, and the push-pull belt passes through the snap ring structure.

[0014] On the basis of the above solution, the delivery mechanism includes a conveyor belt structure and a recycling box; there is an intersection part between the conveying path of the conveyor belt structure and the moving path of the grasping mechanism; the recycling box is arranged below the other end of the delivery mechanism.

[0015] On the basis of the above solution, it further includes: an opposed photoelectric switch; the opposed photoelectric switch is arranged at one end of the delivery mechanism, and the opposed photoelectric switch is used to detect the state of the goods at one end of the delivery mechanism, so as to control the start-stop and conveying direction of the delivery mechanism.

[0016] On the basis of the above solution, it further includes: a controller, a motion motor group, a limit switch, and a human-machine interaction module; the motion motor group is connected to the motion module, the human-machine interaction module is arranged on the front side of the cabinet body, the limit switch is used to control the stop position of the motion module, and the controller is respectively connected to the motion motor group, the limit switch, the human-machine interaction module, the grasping mechanism, the delivery mechanism, and the opposed photoelectric switch.

[0017] According to the second aspect of the present invention, there is provided an unmanned vending method, which uses the above-mentioned unmanned vending device, and includes: grasping the target goods from back to front in the goods channel where the target goods are located; sending the target goods to the delivery mechanism, and the delivery mechanism sends them out; monitoring the target goods on the delivery mechanism, and when the residence time of the target goods on the delivery mechanism reaches the preset time, the delivery mechanism sends the target goods back into the cabinet body.

[0018] (III) Beneficial effects

[0019] The unmanned vending device and method provided by the present invention are provided with a motion module, which is convenient for the grasping mechanism to move in the cabinet, and is convenient for the grasping mechanism to move to the target goods and the delivery mechanism; the grasping mechanism is provided to effectively and firmly grasp the target goods and smoothly send the target goods to the delivery mechanism, which can ensure the smoothness of the goods during the shipment process and avoid damage to the goods. Description of the drawings

[0020] Figure 1 It is a schematic internal structure diagram of an unmanned vending device according to an embodiment of the present invention;

[0021] Figure 2 It is a first schematic structure diagram of the grasping mechanism in an embodiment of the present invention;

[0022] Figure 3 It is a second schematic structure diagram of the grasping mechanism in an embodiment of the present invention;

[0023] Figure 4 It is a third schematic structure diagram of the grasping mechanism in an embodiment of the present invention;

[0024] Figure 5 It is a schematic structure diagram of the delivery mechanism in an embodiment of the present invention;

[0025] Figure 6 It is a schematic overall surface diagram of an unmanned vending device according to an embodiment of the present invention;

[0026] Figure 7 It is a first control schematic diagram of an unmanned vending method according to an embodiment of the present invention;

[0027] Figure 8The second control schematic diagram of a vending method according to an embodiment of the present invention;

[0028] Figure 9 The flowchart of a vending method according to an embodiment of the present invention.

[0029] Explanation of reference numerals:

[0030] 1 - Goods shelf; 2 - First moving axis; 3 - Second moving axis;

[0031] 4 - Grabbing mechanism; 5 - Pickup opening; 6 - Delivery mechanism;

[0032] 7 - Control room; 8 - Cabinet; 9 - Display area;

[0033] 10 - Touch screen; 11 - Loudspeaker; 41 - Support plate;

[0034] 42 - Driving cart; 43 - Suction cup; 44 - First driving motor;

[0035] 45 - Telescopic rod; 46 - Pickup bin; 47 - Push - pull belt;

[0036] 48 - Rotating motor; 49 - Snap - ring structure; 61 - Conveyor belt structure;

[0037] 62 - Recycling bin. Detailed implementation manners

[0038] The following combines the drawings and embodiments to further describe in detail the specific implementation manners of the present invention. The following examples are used to illustrate the present invention but not to limit the scope of the present invention.

[0039] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0040] According to an embodiment of the present invention, a vending device is provided. Refer to Figure 1, the device includes: a cabinet 8; a motion module, a grasping mechanism 4 and a delivery mechanism 6 are arranged inside the cabinet 8. The motion module is connected to the grasping mechanism 4 and is used to drive the grasping mechanism 4 to move inside the cabinet 8. Through the motion module, it is convenient for the grasping mechanism 4 to grasp the goods at any position. The motion module is fixed on the cabinet 8. The grasping mechanism 4 is used to sequentially grasp the target goods from the rear side to the front side of the cabinet 8 and place them on the delivery mechanism 6. The cabinet 8 is provided with a pick-up opening 5 at one end of the delivery mechanism 6.

[0041] For the unmanned vending device provided in this embodiment, after the customer selects the target goods, the motion module can drive the grasping mechanism 4 to move to the position of the target goods; then the grasping mechanism 4 grasps the target goods. Through the grasping mechanism 4, the target goods can be firmly grasped, avoiding the damage of the goods caused by the direct dropping of the goods in the existing vending machine.

[0042] The grasping mechanism 4 sends the target goods to the delivery mechanism 6. Then the delivery mechanism 6 sends the target goods to the pick-up opening 5. The customer can take out the goods from the pick-up opening 5.

[0043] For the unmanned vending device provided in this embodiment, the grasping mechanism 4 moves inside the cabinet 8 through the motion module, and the grasping mechanism 4 moves to the position of the target goods and the delivery mechanism 6 through the motion module; setting the grasping mechanism 4 can effectively and firmly grasp the target goods and send the target goods to the delivery mechanism 6 smoothly, ensuring the smoothness of the goods during the shipping process and avoiding damage to the goods.

[0044] On the basis of the above embodiment, further, the setting structure of the goods shelf 1 inside the cabinet 8 in this embodiment is described. A goods shelf 1 is arranged inside the cabinet 8 for placing a variety of goods. The goods shelf 1 includes a plurality of lanes distributed in the direction from the front side to the rear side of the cabinet 8. The plurality of lanes form a multi-layer and multi-column structure. The widths of different lanes are the same or different, and the heights of different lanes are the same or different.

[0045] Each lane is distributed in the direction from the front side to the rear side of the cabinet 8. A plurality of the same kind of goods can be sequentially arranged from front to back on each lane. The length direction of the lane is the direction from the front side to the rear side of the cabinet 8. The customer faces the front side of the cabinet 8 for shopping. The customer can see the goods at the front end of each lane. For each lane, the goods at the back are the same as the goods at the front end. Different lanes can place different goods. The width and height of the lane can be set according to the specific size of the goods to be placed.

[0046] On the basis of the above embodiment, further, the specific setting structure of the motion module in this embodiment is described. Refer to Figure 6, a display area 9 is provided at the corresponding position of the front side of the cabinet body 8 and the goods shelf 1, that is, it is set as a transparent structure. Customers can clearly and intuitively observe the situation of all the sold goods on the front side of the goods shelf 1.

[0047] All goods are displayed on the cargo channels in the order from front to back in turn. The movement module drives the grasping mechanism 4 to sequentially grasp the goods on the cargo channels from the rear side to the front side of the goods shelf 1. That is, the goods located at the rear side of the cargo channel are sold first each time. So that the unsold goods are always placed at one end of the cargo channel close to the display window. It is convenient for customers to always clearly see the goods to be sold.

[0048] Reference Figure 1 , the movement module includes a first moving shaft 2 arranged along the width direction of the goods shelf 1 and a second moving shaft 3 arranged along the height direction of the goods shelf 1. The movement module is used to drive the grasping mechanism 4 to move along the width direction and the height direction of the goods shelf 1.

[0049] The movement module includes a lateral movement structure, that is, the first moving shaft 2, and a longitudinal movement structure, that is, the second moving shaft 3. The width direction of the goods shelf 1 is the horizontal direction perpendicular to the length direction of the cargo channel, that is, the width direction of each layer of the goods shelf 1.

[0050] There are two connection methods for the first moving shaft 2 and the second moving shaft 3. The first one is: the first moving shaft 2 can be fixedly arranged on the top of the cabinet body 8, the second moving shaft 3 is slidably connected to the first moving shaft 2, and then the grasping mechanism 4 is slidably connected to the second moving shaft 3. In this way, the lateral movement structure drives the longitudinal movement structure to move along the width direction of the goods shelf 1, so as to drive the longitudinal movement structure to reach the position of the column of cargo channels where the target goods are located. Then the longitudinal movement structure drives the grasping mechanism 4 to move up and down, so that the grasping mechanism 4 reaches the cargo channel where the target goods are located.

[0051] The second one is: the second moving shaft 3 can also be fixedly arranged vertically. The first moving shaft 2 is slidably connected to the second moving shaft 3, and then the grasping mechanism 4 is slidably connected to the first moving shaft 2. In this way, the longitudinal movement structure drives the lateral movement structure to move along the height direction of the goods shelf 1, so as to drive the grasping mechanism 4 arranged on the lateral movement structure to move to the corresponding height position of the cargo channel where the target goods are placed. Then the lateral movement structure drives the grasping mechanism 4 to move horizontally, so that the grasping mechanism 4 reaches the cargo channel where the target goods are located.

[0052] The transverse movement structure and the longitudinal movement structure can adopt any structure capable of realizing linear movement. For example, taking the first connection method of the first moving axis 2 and the second moving axis 3 as an example: the transverse movement structure can be composed of a guide rail and a first slider, that is, the first slider is slidably connected to the first moving axis 2; then the longitudinal movement structure is connected to the first slider. The longitudinal movement structure is driven by the first slider to horizontally move along the first moving axis 2. The first slider can be driven by a first motor to slide along the first moving axis 2 to drive the grasping mechanism 4 to horizontally move along the width direction of the goods rack 1.

[0053] Similarly, a second slider is slidably connected to the second moving axis 3. The grasping mechanism 4 can be connected to the second slider. The second slider can be driven by a second motor to move along the second moving axis 3 to drive the grasping mechanism 4 to move up and down along the height direction of the goods rack 1.

[0054] Furthermore, the transverse movement structure and the longitudinal movement structure can also be a lead screw structure. The rotary motion is converted into linear motion through a screw and a nut. Furthermore, the motion module can also be a structure capable of providing three-dimensional linear motion, and the grasping mechanism 4 can move arbitrarily within the cabinet 8, which is convenient for grasping goods.

[0055] The grasping mechanism 4 can be a suction cup 43 or a manipulator. The suction cup 43 can be a vacuum negative pressure suction cup 43.

[0056] On the basis of the above embodiments, further, the specific settings of the grasping mechanism 4 when it is a suction cup 43 are described in this embodiment. The grasping mechanism 4 further includes a support plate 41 and a pushing mechanism. One end of the support plate 41 is connected to the motion module, and when the support plate 41 moves to the rear side of the goods rack 1, the other end is connected to the rear end of the goods channel. The suction cup 43 is arranged on the support plate 41. The rear end of the suction cup 43 is connected to the pushing mechanism, and the pushing mechanism is used to push the negative pressure suction cup 43 to move along the goods channel.

[0057] The suction cup 43 is a component that mainly contacts the target goods and grasps and fixes the target goods. The negative pressure suction cup 43 is provided with a vacuum pump, and the vacuum pump makes the negative pressure suction cup 43 form a vacuum suction force, so as to suck and fix the target goods. The support plate 41 is used to support the negative pressure suction cup 43 and is used to connect to the rear end of the goods channel, which is convenient for the negative pressure suction cup 43 to move along the goods channel from the rear end of the goods channel, so as to suck the goods at the rear end of the goods channel.

[0058] The pushing mechanism is used to realize the movement of the negative pressure suction cup 43 along the goods channel, so that the negative pressure suction cup 43 can move to the goods at the rear end of the goods channel to suck the goods, and retract to the support plate 41 after sucking the goods. When the first moving axis 2 and the second moving axis 3 are connected in the above first way, the support plate 41 is connected to the second moving axis 3. When the first moving axis 2 and the second moving axis 3 are connected in the above second way, the support plate 41 is connected to the first moving axis 2.

[0059] Further, the motion module can be arranged at the rear side of the goods shelf 1.

[0060] Based on the above embodiments, further, referring to Figure 2 , the pushing mechanism includes a driving trolley 42. Guide rails are arranged on the support plate 41 and each goods lane in the direction from the front side to the rear side of the cabinet body 8, and when the support plate 41 moves to the rear end of any goods lane, the guide rail on this goods lane is connected to the guide rail on the support plate 41. The driving trolley 42 is slidably connected to the guide rail on the support plate 41. A suction cup 43 is arranged at the front end of the driving trolley 42. The driving trolley 42 is connected to a first driving motor 44.

[0061] The driving trolley 42 is set as the pushing mechanism. The driving trolley 42 moves along the guide rail driven by the first driving motor 44. The guide rail is arranged along the length direction of the goods lane. Linear guide rails are arranged on the support plate 41 and the goods lane, which can ensure that the driving trolley 42 moves along the specified running track, avoid the deviation of the driving trolley 42, and ensure the accuracy and effectiveness of goods grasping.

[0062] Further, the guide rails on the goods lane and the support plate 41 can be of chute structures; correspondingly, a convex block structure is arranged at the bottom of the driving trolley 42 and is slidably connected to the chute. Setting the guide rail as a chute does not affect the stable placement of goods on the goods lane.

[0063] The specific vending process of this vending device without a salesperson is as follows: After the customer selects the target goods and makes a payment, the motion module can move according to the preset position information of each good, and bring the grasping mechanism 4 to the rear end of the goods lane where the target good is located. When the motion module stops, the support plate 41 should be connected to the rear end of the goods lane, so that the upper surface of the support plate 41 is connected to the upper surface of the goods lane to form a plane. And the guide rail on the support plate 41 is connected to the guide rail on the goods lane to form a linear guide rail.

[0064] Then the first driving motor 44 drives the driving trolley 42 to move along the guide rail. When the negative pressure suction cup 43 at the front end of the driving trolley 42 contacts the goods, the driving trolley 42 stops moving, and the negative pressure suction cup 43 sucks the goods at the rear end of the goods lane under the action of a vacuum pump. Then the driving trolley 42 drives the negative pressure suction cup 43 and the goods to move back along the guide rail to the support plate 41.

[0065] Then the motion module drives the grasping mechanism 4 and the target goods to move to the delivery mechanism 6. The negative pressure suction cup 43 releases the suction force, and places the target goods stably on the delivery mechanism 6, and the delivery mechanism 6 sends them out to the pick-up opening 5.

[0066] Further, referring to Figure 3, the pushing mechanism includes a telescopic rod 45, which is arranged in the direction from the front side to the rear side of the cabinet body 8. The front end of the telescopic rod 45 is connected to the suction cup 43, and the rear end of the telescopic rod 45 is connected to the second driving motor. The second driving motor drives the telescopic rod 45 to perform linear telescoping in the direction from the front side to the rear side of the cabinet body 8. The telescopic rod 45 reaches behind the target goods through linear elongation to suck the target goods, and then brings the target goods back to the support plate 41 by retracting.

[0067] On the basis of the above embodiments, further, another setting structure of the pushing mechanism is proposed in this embodiment. Refer to Figure 4 , the pushing mechanism includes a push-pull belt 47. One end of the push-pull belt 47 is connected to the rotating motor 48. The winding disc of the push-pull belt 47 is a disc structure. The other end of the push-pull belt 47 is connected to the rear end of the negative pressure suction cup 43. A snap ring structure 49 is arranged on the support plate 41 along the moving path of the negative pressure suction cup 43. The push-pull belt 47 passes through the snap ring structure 49.

[0068] The push-pull belt 47 can be wound into a disc structure for easy retraction and fixation. One end of the push-pull belt 47 at the center of the disc is connected to the rotating motor 48. Through the rotation of the rotating motor 48, the other end of the push-pull belt 47 can extend and move or retract and coil up. Furthermore, the extension or retraction of the push-pull belt 47 can drive the negative pressure suction cup 43 to move along the goods channel.

[0069] During operation, the extension of the other end of the push-pull belt 47 pushes the negative pressure suction cup 43 to move along the goods channel to a position close to the target goods, and then the negative pressure suction cup 43 grabs the commodity. After it is determined that the commodity is successfully grabbed, the push-pull belt 47 pulls the suction cup 43 to move and close, so that the goods leave the goods shelf 1. The snap ring structure 49 is arranged on the support plate 41 to limit and control the extension and retraction path of the push-pull belt 47 to prevent the push-pull belt 47 from shifting.

[0070] The push-pull belt 47 should be a structure that is easy to wind and coil up and has a certain hardness. The push-pull belt 47 can be a chain structure, a belt, a plastic belt, etc. Among them, the chain structure can be formed by a hard material.

[0071] Furthermore, the grasping mechanism 4 can also be a structure such as a manipulator, etc., for the purpose of being able to grasp and fix goods, and no specific limitation is made. Baffles can also be arranged on both sides of the support plate 41, that is, a picking bin 46 with an opening facing the goods shelf 1 is formed. Each time the target goods are grabbed into the picking bin 46, it is not only convenient to fix each component, but also can limit and control the moving path of the negative pressure suction cup 43.

[0072] On the basis of the above embodiments, further, refer to Figure 5, the delivery mechanism 6 includes a conveyor belt structure 61. The goods are smoothly conveyed by the movement of the conveyor belt. Further, the conveyor belt structure 61 can be arranged at the bottom of the cabinet 8 or at other positions. It is only necessary that there is an intersection between the conveying path of the conveyor belt structure 61 and the moving path of the grasping mechanism 4. This facilitates the grasping mechanism 4 to smoothly place the target goods on the conveyor belt structure 61.

[0073] The conveyor belt structure 61 may include connecting wheels, a transmission belt, and a motor. The transmission belt is sleeved on two connecting wheels. The motor controls the rotation of one of the connecting wheels, thereby driving the belt to transmit.

[0074] The delivery mechanism 6 further includes a recycling bin 62. The recycling bin 62 is arranged below the other end of the delivery mechanism 6.

[0075] On the basis of the above embodiments, further, a vending device further includes: an opposed photoelectric switch. The opposed photoelectric switch is arranged at one end of the delivery mechanism 6. The opposed photoelectric switch is used to detect the state of the goods at one end of the delivery mechanism 6. Furthermore, it controls the start and stop of the delivery mechanism 6 and the conveying direction of the delivery mechanism 6.

[0076] An opposed photoelectric switch is installed at one end of the delivery mechanism 6 close to the pick-up port 5. When the commodity reaches the designated position at one end of the delivery mechanism 6, the delivery mechanism 6 stops rotating. The customer can pick up the goods at the pick-up port 5. By setting the opposed photoelectric switch, the state of the goods on the delivery mechanism 6 can be determined, and the operation of the delivery mechanism 6 can be controlled according to the state of the goods.

[0077] The conveyor belt structure 61 of the delivery mechanism 6 can rotate forward or backward. When rotating forward, it is used to send the goods to the pick-up port 5. In addition, if the goods remain at the pick-up port 5 for a preset time and are not picked up by the customer, or the customer forgets to pick up the goods, etc., the conveyor belt structure 61 is controlled to rotate backward to move the goods into the recycling bin 62 for recycling.

[0078] Further, the state of the goods can be detected by the opposed photoelectric switch. A gravity sensor can also be arranged on the delivery mechanism 6. The state of the goods is judged by detecting the gravity on the delivery mechanism 6. When the grasping mechanism 4 places the goods on the delivery mechanism 6, the delivery mechanism 6 senses an increase in gravity and then operates along a preset path to send the goods to the pick-up port 5.

[0079] If after a certain interval, the gravity on the delivery mechanism 6 does not decrease, that is, the goods are still on the delivery mechanism 6, the delivery mechanism 6 operates backward a certain distance to send the goods into the recycling bin 62.

[0080] When goods are not taken away by customers in time, existing vending devices often shut down to prevent the loss of goods. This requires staff to maintain and restart the devices, which not only affects the normal operation of the vending devices but also consumes manpower and increases costs. This vending device is provided with a recycling function, which can recycle goods to prevent loss and can effectively reduce the restart operation of the vending device, thereby reducing the operation and maintenance costs of the vending device.

[0081] On the basis of the above embodiments, further, an unmanned vending device further includes: a controller, a motion motor group, a limit switch, and a human-machine interaction module. The motion motor group is connected to the motion module and is used to drive the movement of the motion module. The human-machine interaction module is arranged on the front side of the cabinet body 8 and can be a touch display screen, which is used for users to view goods information, select goods, and make payments.

[0082] The limit switch is used to control the stop position of the motion module. The controller is respectively connected to the motion motor group, the limit switch, the human-machine interaction module, the grasping mechanism 4, the delivery mechanism 6, and the opposed photoelectric switch. The controller is used to comprehensively and intelligently control the operation of the vending device. The controller is connected to the vacuum pump and the pushing mechanism to control the grasping mechanism 4. A power supply module is provided to supply power to the entire device. The controller can control the power on and off of the entire device by controlling the switch of the power supply module.

[0083] Inside the cabinet body 8, a control room 7 can be arranged on one side of the goods shelf 1 for arranging controller components such as the controller. The human-machine interaction module can be a touch screen 10. The touch screen 10 can be arranged on the surface of the control room 7. The human-machine interaction module can further include a loudspeaker 11 and a voice interaction module. The loudspeaker 11 is arranged on the front end surface of the cabinet body 8. The voice interaction module is arranged inside the cabinet body 8 and is connected to the loudspeaker 11 for human-machine interaction through voice.

[0084] Further, a door body can be arranged at the goods pickup opening 5, and the door body is connected to a stepping motor. The stepping motor can drive the door body to open or close under the control of the controller.

[0085] On the basis of the above embodiments, further, an unmanned vending method uses the unmanned vending device provided in any of the above embodiments. The method includes: grasping target goods sequentially from the back to the front on the goods lane where the target goods are located; sending the target goods to the delivery mechanism 6, and the delivery mechanism 6 sends them out; monitoring the target goods on the delivery mechanism 6, and when the residence time of the target goods on the delivery mechanism 6 reaches a preset time, the delivery mechanism 6 sends the target goods back inside the cabinet body 8.

[0086] On the basis of the above embodiments, further, a vending device and method are mainly used for the automatic vending of electronic products in some public places such as shopping malls, supermarkets, airports, etc. The main functions of the device are composed of a touch screen 10, a display area 9, an execution picking mechanism, a pneumatic source area, a control and drive unit, a data transmission interface, etc.

[0087] The front of the vending device is divided into 3 areas: a transparent item display area 9, a human-computer interaction interface, and a picking window. Through the transparent item display area 9, all the items to be sold can be clearly observed. Consumers can understand product introductions, select products, and complete payment and other functions through the human-computer interaction interface. The picking window is used for consumers to pick up the purchased items.

[0088] Reference Figure 7 and Figure 8 , the vending device is composed of an interaction unit, a PLC controller, a status acquisition unit, a driver, a pneumatic unit, a motor group, a motion module, a goods shelf 1, and a delivery mechanism 6. The PLC is responsible for controlling all devices such as motors, air pumps, and conveyor belts, as well as acquiring the status of various devices. Communication between the PLC and the upper computer (interaction control unit) is carried out through the modbusRTU protocol.

[0089] The PLC can select the Panasonic FP-XH series. This series of PLCs can support the control of up to 8 motors at most. It can realize communication requirements such as RS232C, RS422 / 485, and Ethernet. A single PLC can meet all the control requirements of the vending machine. The power supply module can be set to provide 24V DC power for all devices in the vending machine. An AC / DC switching power supply module is used to convert 220VAC into 24VDC.

[0090] The drive unit is the driver of the motor and is selected with standard configuration. The interaction control unit is used for consumers to complete product browsing, selection, and payment purchase. It stores information on all recorded products, including the storage location information of the products on the shelves of the vending device.

[0091] The status acquisition unit is composed of limit switches, photoelectric switches, travel switches, and magnetic grating rulers. It is connected to the PLC and masters the real-time status data of the motion module and the suction cup 43 by acquiring the status of various switches and magnetic grating rulers and other devices.

[0092] Reference Figure 9After the consumer completes the payment for the commodity through the interaction unit, the host computer of the interaction unit sends the determined commodity position number to the PLC controller. The PLC controller generates a control instruction according to the commodity position number. The driver is connected to the PLC controller to receive the control instruction sent by the PLC controller and converts the control instruction into displacement and speed data of the motion module. The motor is connected to the driver and is controlled by the driver. The first moving axis in the motion module is the Y-axis, and the second moving axis is the Z-axis.

[0093] The internal functional area of the vending device consists of a goods shelf 1, a motion module, a grasping mechanism 4, and a delivery mechanism 6. The cabinet 8 is used to support the motion module, the goods shelf 1, and the delivery mechanism 6. The goods shelf 1 is used to display material commodities. The goods shelf 1 includes a plurality of channels distributed from the front side to the rear side of the cabinet 8. Further, auxiliary rods for preventing the materials from tipping over are arranged on both sides of the channels to ensure that the material commodities are arranged regularly in sequence. The anti-tipping auxiliary rods can be baffles arranged on both sides of the channels.

[0094] After the host computer determines the storage position of the sold commodity, it sends the position code to the PLC controller. The PLC controller generates a motion module control instruction and an air pump or vacuum pump grasping instruction according to the position information. The driver receives the control instruction and converts it into a displacement and speed data signal of the motion module. The motion motor groups are respectively controlled to drive the corresponding moving axes to move the corresponding displacements at a set speed, so as to send the grasping mechanism 4 to the target position.

[0095] At the same time, the status acquisition unit triggers the vacuum pump grasping instruction by collecting the status change of the limit switch. The vacuum pump drives the negative pressure suction cup 43 to grasp the commodity. Then, the motion motor groups drive the motion module again to place the commodity on the delivery mechanism 6, and the delivery mechanism 6 transports it to the pickup port 5.

[0096] This vending device without a salesperson takes into account that the pickup devices of current vending machines are all set on the front of the vending machine shelves. The pickup device moves from the front (front end) to the back (rear end) of the channel to grasp the commodities on the channel, and the commodities are sold in the order from front to back. In this way, the unsold commodities are stored at the rear side of the channel; if there are not many commodities left on the channel, that is, the commodities are relatively far back or the channel density is too large, it will cause customers to be unable to directly observe whether there are still commodities on the channel, which will affect the normal sale of the commodities. At the same time, the front setting of the pickup device will also affect the overall aesthetic effect of the vending machine device.

[0097] The vending device and method achieve automatic picking of goods on the goods shelf 1 by setting a motion module in the cabinet 8. The grasping mechanism 4 is arranged at the rear side of the vending device's goods channel, and the goods are grasped in sequence from back to front to ensure that the unsold goods can be visually observed by consumers. By controlling the forward and reverse directions of the conveyor belt structure 61, the recycling of goods is achieved, preventing the loss of goods, and effectively reducing the restart operation of the vending machine, thus reducing the operation and maintenance costs of the vending machine.

[0098] The picking of goods is achieved by using the suction cup 43 method, which can be flexibly operated according to the position of the goods to prevent the loss of goods. A linear track is set on the grasping mechanism 4 to ensure the fixity of the running track of the negative pressure suction cup 43, thereby ensuring the firmness and effectiveness of goods grasping. By promptly retrieving the uncollected goods, the problems of long replenishment time and low replenishment accuracy rate in the prior art, which are solved by shutting down and restarting to complete the retrieval of uncollected goods, are solved.

[0099] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A vending device, characterized in that, Comprising: Cabinet body; A goods shelf, a motion module, a grasping mechanism, a conveyor belt structure and a recycling bin are arranged inside the cabinet body; the goods shelf includes a plurality of cargo channels distributed in the direction from the front side to the rear side of the cabinet body; the motion module and the grasping mechanism are arranged at the rear side of the cargo channels, the motion module is connected to the grasping mechanism and is used to drive the grasping mechanism to move inside the cabinet body, the grasping mechanism is used to sequentially grasp target goods from the rear side to the front side of the cabinet body and place them on the conveyor belt structure, a pick-up opening is arranged at one end of the conveyor belt structure of the cabinet body, and the recycling bin is arranged below the other end of the conveyor belt structure; The grasping mechanism includes a suction cup, a support plate and a push-pull belt; one end of the support plate is connected to the motion module; guide rails distributed in the direction from the front side to the rear side of the cabinet body are arranged on the support plate and each cargo channel; after the customer selects the target goods and makes a payment, the motion module moves according to the preset position information of the target goods, and brings the grasping mechanism to the rear end of the cargo channel where the target goods are located; when the motion module stops, the other end of the support plate is connected to the rear end of the cargo channel, the upper surface of the support plate is connected to the upper surface of the cargo channel to form a plane, and the guide rails on the support plate are connected to the guide rails on the cargo channel to form a linear guide rail; The suction cup is arranged on the support plate; one end of the push-pull belt is connected to a rotating motor, the winding disc of the push-pull belt is a disc structure, the other end of the push-pull belt is connected to the rear end of the suction cup, and a snap ring structure is arranged on the support plate along the moving path of the suction cup, and the push-pull belt passes through the snap ring structure; during operation, the elongation of the other end of the push-pull belt pushes the suction cup to move along the guide rail from the rear end of the cargo channel to a position close to the target goods to suck the target goods, and after it is determined that the grasping is successful, the retraction of the push-pull belt pulls the suction cup and the target goods to move along the guide rail to the support plate; There is an intersection between the conveying path of the conveyor belt structure and the moving path of the grasping mechanism; a pair of photoelectric switches is arranged at one end of the conveyor belt structure close to the pick-up opening; the pair of photoelectric switches is used to monitor the target goods on the conveyor belt structure, and when the residence time of the target goods on the conveyor belt structure reaches the preset time, the conveyor belt structure is used to send the target goods to the recycling bin.

2. The vending device according to claim 1, characterized in that, The motion module at least includes a first moving shaft arranged along the width direction of the goods shelf and a second moving shaft arranged along the height direction of the goods shelf, and the first moving shaft and the second moving shaft are used to drive the grasping mechanism to move along the width direction and the height direction of the goods shelf.

3. The vending device according to any one of claims 1 to 2, characterized in that, The pair of photoelectric switches is used to detect the state of the goods at one end of the delivery mechanism, so as to control the start-stop and conveying direction of the delivery mechanism.

4. The vending device according to claim 1, characterized in that, Also comprising: A controller, a motion motor set, a limit switch, and a human-machine interaction module; the motion motor set is connected to the motion module, the human-machine interaction module is arranged on the front side of the cabinet body, the limit switch is used to control the stop position of the motion module, and the controller is respectively connected to the motion motor set, the limit switch, the human-machine interaction module, the grasping mechanism, the delivery mechanism, and the opposed photoelectric switch.

5. The vending device according to claim 1, characterized in that, A plurality of the lanes form a multi-layer and multi-column structure; the widths of different lanes are the same or different, and the heights of different lanes are the same or different; auxiliary rods for preventing materials from tipping over are arranged on both sides of the lanes.

6. A vending method, characterized in that, Using the unmanned vending device according to any one of claims 1-5 above, comprising: Grasping the target goods sequentially from the back to the front on the lane where the target goods are located; Sending the target goods to the delivery mechanism and sending them out by the delivery mechanism; Monitoring the target goods on the delivery mechanism, and when the residence time of the target goods on the delivery mechanism reaches the preset time, the delivery mechanism sends the target goods back into the cabinet body.

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