Selling goods picking robot

Abstract

The present invention discloses a robot for picking up goods for sale, which is connected to a nut block by a motor drive. The nut block is equipped with a pair of rollers and a door opener. The roller is hoisted with a suction cup by a rope wound around it. A clutch is arranged between the roller and the rope. The door opener and the roller are installed in an integrated manner on the nut block, and the suction cup is hoisted with the rope wound around it. This enables the robot to have both door opening and closing and grabbing functions. Only one set of structure is needed to realize the process of picking up goods for sale. This motion-type door opening and closing process has the advantages of good stability and adjustable door opening degree. The replacement and maintenance cost is low, and the debugging process is easy. At the same time, this three-dimensional mobile grabbing mechanism replaces the cargo rail structure that pushes out goods through the motor-driven pushing mechanism, and realizes the process of imitating human hands grabbing goods. Not only does it not need to configure multiple motors, but the goods will not generate friction with the cargo rail channel, thereby avoiding damage to the goods and ensuring the integrity of the goods.

Description

Technical Field

[0001] The invention belongs to the field of vending equipment, and in particular relates to a robot for automatically taking out commodities from a vending machine. Background Art

[0002] Self-service vending machines are mainly used in office buildings, stations, commercial centers and other places with large traffic flow to provide and sell goods by themselves. It not only provides a more convenient service for people to buy goods, but also replaces traditional manual sales, reduces the labor intensity of personnel, saves sales costs, and brings more profits to merchants.

[0003] At present, when the self-service vending machines used in the market need to obtain the goods stored in the machine, they must open the door and grab the goods to take out the goods. There are two common ways to obtain the goods: one is to configure two sets of power control mechanisms to control the opening and closing of the refrigerator door and the suction and grabbing of goods separately, but this control method has three disadvantages: 1. Two sets of power control, the equipment cost is relatively high; 2. Two sets of power drives require two sets of control motors, which occupy a large space; 3. The programming of the two sets of power controls is relatively complicated. Second, configure a set of power mechanisms, and use one set of power mechanisms to simultaneously control the opening and closing of the refrigerator door and the suction and grabbing of goods. However, this control method has the following problems: when the equipment opens the refrigerator door, the Z axis needs to move downward, and at the same time drive the transmission rope and the suction cup mechanism to move downward. At this time, the position of the suction cup mechanism needs to be moved to the lower part of the refrigerator door. In order to avoid interference with the refrigerator, space for placing the suction cup mechanism needs to be reserved, which increases the overall size of the equipment and occupies a large space. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a commodity picking robot with high automation, simple control program, coordinated and stable picking action and space saving.

[0005] In order to achieve the above purpose, the technical solution adopted by the present invention is: a robot arm for picking up goods for sale, including an axle seat and a motor, the motor drivingly connected to a nut block, the nut block is equipped with a pair of rollers and a door opener, the roller hoists a suction cup through a wound rope; a clutch is arranged between the roller and the rope; when the motor drives the nut block to produce a lifting movement, when the roller supports the rope, the rope drives the suction cup to produce a corresponding lifting movement to realize the grabbing operation and the door opener is unloaded, on the contrary, when the rope is separated from the roller, the roller is unloaded and the door opener drives the handle to open or close the cabinet door.

[0006] Furthermore, a telescopic device capable of realizing a clutch function is arranged between the roller and the rope, and the axis of the extension shaft of the telescopic device is located between the two rollers; when the motor drives the nut block to produce a lifting movement, when the telescopic device retracts, the roller supports the rope to drive the suction cup to produce a corresponding lifting movement to realize the grabbing operation while the door opener is unloaded. On the contrary, when the telescopic device extends, it replaces the roller to support the rope and makes the rope detach from the roller. The roller is unloaded and the door opener drives the handle to open or close the cabinet door.

[0007] Furthermore, the motor is connected to the nut block through a screw thread, and the nut block is installed with a roller through a slide; the bottom end of the door opener is connected to a pin shaft; one end of the rope is fixed to the shaft seat, and the other end of the rope is hoisted with a suction cup.

[0008] Furthermore, the shape of the handle is elliptical, and the interior of the handle accommodates the pin.

[0009] Furthermore, the shaft seat is driven by an X-axis action device that generates X-axis movement. When the nut block itself is lifted and lowered, it moves along the X-axis at the same time, so that the door opener drives the handle to open and close the cabinet door.

[0010] Furthermore, a Y-axis moving device is arranged between the X-axis moving device and the Z-axis lifting device, and the Y-axis moving device drives the shaft seat to move along the Y direction so that the door opener moves to the required opening coordinate.

[0011] Furthermore, the shaft seat is jointly driven by an X-axis motion device that generates X-axis motion and a Y-axis motion device that generates Y-axis motion, so that the shaft seat moves along the X and Y directions, thereby moving the suction cup to the required grasping coordinates.

[0012] Furthermore, the X-axis motion device and the Y-axis motion device are both structures that use motor-driven belts to drive the slider to move along the guide rail.

[0013] Furthermore, the X-axis motion device and the Y-axis motion device are both structures that use a motor to drive a lead screw to drive the slider to move along the guide rail.

[0014] By implementing the above technical solution, since the door opener and roller are installed in an integrated manner on the nut block and the suction cup is hoisted by the wound rope, the manipulator has both the door opening and closing and grabbing functions, and only one set of structure is needed to realize the process of picking up goods for sale; this motion-type door opening and closing process has the advantages of good stability and adjustable door opening size, low replacement and maintenance costs, and low difficulty in the debugging process. At the same time, this three-dimensional mobile grabbing mechanism replaces the cargo rail structure that pushes out goods through the motor-driven pushing mechanism, and realizes the process of imitating human hands to grab goods. Not only does it not need to configure multiple motors, but the goods will not rub against the cargo rail channel, avoiding damage to the goods to ensure the integrity of the goods; when the Z-axis lifting device cooperates with the X-axis action device Under the joint action of the above, the cabinet door produces an arc-shaped motion trajectory, the movement difficulty is reduced, which is conducive to reducing the difficulty of debugging, and the fault tolerance space of the cabinet door opening point is increased, which is conducive to quick hooking and preventing unhooking. It has a high degree of automation and a smooth travel path. At the same time, when the Z-axis lifting device cooperates with the X-axis action device and the Y-axis action device to move in the XY direction, the grasping process forms a three-dimensional motion trajectory, and the grasping mechanism can reach any position in the commodity area of ​​the vending machine to perform grasping operations, so that the vending machine does not need to be divided into multiple cargo columns with a certain amount, so as to meet the needs of all cargo columns for picking up items. The capacity of each cargo column is optimally matched with the classification amount of goods, and the versatility and allocation are good to improve the consumer experience and promote consumers' sustainable consumption desire. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of a robot for picking up goods for sale.

[0016] Figure 2 It is a schematic diagram of the assembly structure of the Z-axis lifting device, door opener and suction cup device.

[0017] Figure 3 It is a schematic diagram of the assembly structure of rope, roller and cylinder. DETAILED DESCRIPTION

[0018] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0019] like Figure 1 As shown, the merchandise picking robot for selling goods is mainly composed of an X-axis motion device 3, a Y-axis motion device 5, a Z-axis lifting device 6, a door opener 7, a suction cup device 8 and a telescoping device 13.

[0020] A frame 2 is arranged around the vending machine cabinet 1, and a pair of parallel X-axis motion devices 3 are laid on both sides of the frame 2. The X-axis motion device uses a motor-driven belt to drive the slider to move along the guide rail to achieve transmission. Two supports 4 are installed on the slider of the X-axis motion device 3, and the support 4 is equipped with a Y-axis motion device 5. The Y-axis motion device uses a motor-driven belt to drive the slider to move along the guide rail to achieve transmission. A Z-axis lifting device 6 is installed on the slider of the Y-axis motion device, and the Z-axis lifting device uses a motor and a lead screw to achieve transmission.

[0021] like Figure 2 As shown, the Z-axis lifting device 6 is composed of a motor 6.1, a guide rail 6.2, a nut block 6.3 and a screw rod 6.4. The guide rail is vertically arranged, the guide rail 6.2 is equipped with a screw rod 6.4, the motor 6.1 is driven to connect the screw rod 6.4, the screw rod 6.4 is threadedly connected to the nut block 6.3, and the nut block 6.3 is subjected to the reaction of the thread force of the rotating screw rod 6.4 to generate a lifting motion along the guide rail. The Z-axis lifting device 6 is equipped with a door opener 7, a suction cup device 8 and a telescope 13.

[0022] The door opener 7 is composed of a square tube 7.1 and a pin 7.2. The nut block 6.3 is used to hang the square tube 7.1, and the pin 7.2 is inserted into the tail end of the square tube 7.1. When opening the door, the pin 7.2 on the square tube 7.1 is inserted into the handle 9, and the shape of the handle is elliptical or long waist-shaped. The handle 9 is installed at the right-angle edge of the surface of the cabinet door 1.1. The diameter of the pin is 5mm, and the length of the handle is 10cm and the width is 5cm. Since the cross-sectional area of ​​the pin is much smaller than the handle area, it can ensure that the pin has a large adjustment margin when moving toward the inside of the handle, which brings greater convenience to the later door opening and debugging operations, increases the fault tolerance range, and improves the stability of the equipment. When the door opener generates a lifting movement, the function of opening or closing the cabinet door is realized.

[0023] The suction cup device 8 is composed of a slide 8.1, a roller 8.2, a rope 8.3 and a suction cup 8.4. The nut block 6.3 is hoisted on the slide 8.1, and the slide is a square frame. A pair of rollers 8.2 are installed on the symmetrical inner side walls of the slide 8.1. The rollers 8.2 are wound with a rope 8.3. One end of the rope 8.3 is fixed to the guide rail 6.2 as a fulcrum end, and the other end of the rope 8.3 is hoisted on the suction cup 8.4 as a free end. The middle section of the rope 8.3 is supported on the roller 8.2, and the roller 8.2 carries the suction cup 8.4 through the rope 8.3.

[0024] A bracket 10 is also installed at the motor 6.1 of the guide rail 6.2. The bracket 10 has two inner sides, one of which is installed with a retractor 13, and the other is installed with a sensor 14. The sensor is used to sense the position of the rope. The axis of the retractor 13 is located between the two rollers 8.2. When the retractor is extended, it is used to replace the roller to support the rope to carry the suction cup, and has the function of separating the transmission relationship between the rope and the roller.

[0025] A C-shaped frame 11 is installed at the lower section of the guide rail 6.4 of the Z-axis lifting device 6, and the C-shaped frame is used to prevent the suction cup from shaking.

[0026] The working process of the merchandise pickup robot has two modes: door opening and closing mode and grabbing mode. The X-axis motion device and the Y-axis motion device jointly drive the Z-axis lifting device to generate X- and Y-direction motions, so that the Z-axis lifting device reaches the target position. When in the door opening and closing mode, the telescope extends, and the extension shaft of the telescope supports the rope to separate the rope from the roller. At this time, the motor of the Z-axis lifting device drives the screw to rotate, and the nut block moves to drive the door opener to produce a lifting action. Because the roller is separated from the rope, the suction cup remains stationary and the door opener produces a lifting action, thereby driving the pin shaft to complete the door opening and closing operation. When in the grabbing mode, the extension shaft of the telescope retracts and returns to its original position, and the roller replaces the cylinder to support the rope. At this time, the motor of the Z-axis lifting device drives the screw to rotate, and the nut block drives the suction cup on the slide together with the door opener to produce a lifting action. The door opener produces an empty stroke and the suction cup completes the grabbing operation.

[0027] The switching of the working mode of the merchandise picking robot is achieved by supporting the ropes with telescopic devices and rollers respectively, thus realizing the integration of two working modes in one device, with a simple structure and fast switching.

[0028] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions and variations of these embodiments are made without departing from the principles and spirit of the present invention, and still fall within the scope of protection of the present invention.

Claims

1. A robot for picking up goods for sale, comprising an axle seat and a motor, characterized in that: The motor is driven to connect the nut block, the nut block is equipped with a pair of rollers and a door opener, the motor is threadedly connected to the nut block through a screw rod, and the nut block is equipped with a roller through a slide; the bottom end of the door opener is connected to a pin shaft; one end of the rope is fixed to the shaft seat, the other end of the rope is hoisted with a suction cup, and the roller is hoisted with the suction cup through the wound rope; A retractor capable of realizing a clutch function is arranged between the roller and the rope, and the axis of the extension shaft of the retractor is located between the two rollers; When the motor drives the nut block to generate lifting motion, when the telescopic device retracts, the roller supporting rope drives the suction cup to generate corresponding lifting motion to realize the grabbing operation while the door opener is unloaded. On the contrary, when the telescopic device extends, it replaces the roller to support the rope and makes the rope detach from the roller. The roller is unloaded and the door opener drives the handle to open or close the cabinet door.

2. The commodity picking robot for selling goods according to claim 1, characterized in that: The handle is elliptical in shape, and the interior of the handle accommodates a pin shaft.

3. The commodity picking robot for selling goods according to claim 1, characterized in that: The shaft seat is driven by an X-axis action device that generates X-axis movement. When the nut block itself is lifted and lowered, it moves along the X-axis, so that the door opener drives the handle to open and close the cabinet door.

4. The commodity picking robot for selling goods according to claim 3 is characterized in that: A Y-axis moving device is arranged between the X-axis moving device and the Z-axis lifting device, and the Y-axis moving device drives the shaft seat to move along the Y direction so that the door opener moves to the required opening coordinate.

5. The commodity picking robot for selling goods according to claim 1, characterized in that: The shaft seat is jointly driven by an X-axis motion device that generates X-direction motion and a Y-axis motion device that generates Y-direction motion, so that the shaft seat moves along the X-direction and the Y-direction, thereby moving the suction cup to the required grasping coordinate.

6. The commodity picking robot for selling goods according to claim 4 or 5, characterized in that: The X-axis motion device and the Y-axis motion device are both structures that use motor-driven belts to drive the slider to move along the guide rail.

7. The commodity picking robot for selling goods according to claim 4 or 5, characterized in that: The X-axis motion device and the Y-axis motion device are both structures that use a motor to drive a lead screw to drive the slider to move along the guide rail.

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