A self-service vending device adopting a mechanical structure to switch working modes

Abstract

The application provides a self-service vending equipment adopting mechanical structure to switch working modes, which comprises a refrigerator and a three-axis motion mechanism installed outside the refrigerator; the three-axis motion mechanism comprises a Z-axis support, an X-axis support and a Y-axis support; a switching mechanism, a lead screw and a slider mechanism installed on the lead screw and capable of moving up and down along the lead screw are installed on the Z-axis support; the slider mechanism is connected with a door opening mechanism and a goods taking mechanism, and is used for opening and closing the refrigerator door and taking goods respectively; through the movement of a set of mechanisms, the opening of the refrigerator door and the grabbing of goods in the automatic vending equipment are realized; that is, the movement processes are ensured to be independent of each other, and one set of mechanisms drives two sets of devices to move respectively; only through the movement of three coordinate axes, the independent movement of the refrigerator door and the grabbing can be realized, and the manufacturing cost is saved; the structure is stable, the operation is smooth, the failure rate is low, and the repair cost is low.

Description

Technical Field

[0001] This invention belongs to the field of automation technology, and specifically relates to a self-service vending machine that uses a mechanical structure to switch working modes. Background Technology

[0002] Currently, the automatic opening and suction devices used in freezers on the market are quite diverse, generally falling into two categories: Two-set power control mechanism: using separate controls for opening and closing the freezer door and suction for grabbing goods (i.e., two sets of power control mechanisms); One-set power mechanism: using a single power mechanism to simultaneously control opening and closing the freezer door and suction for grabbing goods. However, both methods have the following problems.

[0003] The problem of having two separate power systems controlling the opening and suction gripping: 1. Two sets of power control systems result in relatively high equipment costs.

[0004] 2. Two sets of power control require two control motors, which takes up a lot of space.

[0005] 3. The programming of the two power control systems is relatively complex.

[0006] A power control system has the following problems: When the freezer door is opened, the Z-axis needs to move downwards, which in turn drives the transmission steel wire rope and suction cup mechanism to move downwards. At this time, the position of the suction cup mechanism needs to be moved to the outside of the freezer, close to the bottom. In order to avoid interference with the slide and other parts below this position, space needs to be left to place the suction cup mechanism, which increases the overall size of the equipment and occupies a lot of space.

[0007] As vending machines become increasingly sophisticated, the market demands higher levels of automation, stability, cost control, and space utilization. To meet these needs, there is an urgent need to optimize and upgrade a power control system and develop a self-service vending machine capable of switching between door opening and product retrieval modes. Summary of the Invention

[0008] To address the above problems, this invention provides a self-service vending machine that uses a mechanical structure to switch working modes, the specific solution of which is as follows: A self-service vending machine that uses a mechanical structure to switch working modes includes a refrigerator 1 and a three-axis motion mechanism 4 installed outside the refrigerator 1. The freezer 1 includes a cabinet body and a cabinet door 101 at the top of the cabinet body; a handle 102 is installed on the cabinet door 101. The three-axis motion mechanism 4 includes a Z-axis support 401, an X-axis support 402, and a Y-axis support 403; the Z-axis support 401 is equipped with a switching mechanism 3, a lead screw, and a slider mechanism 2 mounted on the lead screw and capable of moving up and down along the lead screw; the slider mechanism 2 is connected to the door opening mechanism 5 and the goods retrieval mechanism 6, and is used to open and close the cabinet door 101 and retrieve goods, respectively.

[0009] Furthermore, the slider mechanism 2 includes a slider 201, on which a pulley support 202 is fixedly mounted; two pulleys 205 carrying a steel wire rope 601 are installed inside the pulley support 202. A square pin 203 is installed on the side of the pulley support 202; the square pin 203 is a prism structure with an arc surface at the rear, the front part of the prism is placed inside the pulley support 202, and a spring 204 is installed at the contact part with the pulley support 202; the arc surface and the rear part of the prism are placed outside the pulley support 202 and are used to trigger the switching mechanism 3. Furthermore, the switching mechanism 3 includes a bracket fixedly installed on the top of the Z-axis bracket 401 and an impeller 301 and a support rod 302 installed on the bracket; The impeller 301 is mounted on the bracket via a one-way bearing and bearing housing, and can be triggered to rotate in one direction by a square pin 203; the impeller 301 is provided with staggered long blades and short blades. One end of the support rod 302 is mounted on the bracket via a bearing and bearing seat, and the other end is a free end that can rotate freely. The free end is located on the side of the impeller 301 and the two pulleys 205, so that during the rotation of the impeller 301, the short blades are always separated from the support rod 302, while the long blades can contact the support rod 302 to hang the wire rope 601 between the two pulleys 205.

[0010] Furthermore, the square pin 203 drives the support rod 302 and impeller 301 to rotate through the up and down movement of the slider mechanism 2. Each cycle includes a process of rising and then falling back, which drives the impeller 301 to rotate a certain angle. The long and short blades of the impeller 301 support or lower the support rod 302, thereby realizing the suspension and release of the steel wire rope 601 by the support rod 302.

[0011] Furthermore, the three-axis motion mechanism 4 includes a Z-axis support 401, an X-axis support 402, and a Y-axis support 403; an X-axis slide rail is provided on the X-axis support 402 along the X-axis direction; The Y-axis bracket 403 is mounted on the X-axis slide rail of the X-axis bracket 402 and can move along the X-axis slide rail; The Y-axis bracket 403 is provided with a Y-axis slide rail along the Y-axis direction; the Z-axis bracket 401 is installed on the Y-axis slide rail of the Y-axis bracket 403 and can move along the Y-axis slide rail. A Z-axis slide rail is installed on the Z-axis bracket 401. A slider 201 that can move along the Z-axis slide rail is provided on the Z-axis slide rail. The slider 201 is installed on the door opening mechanism 5. The door opening mechanism 5 includes a connecting shaft 501 and a handle 502 installed at the end of the connecting shaft 501. The handle 502 can engage with the handle 102 of the cabinet door 101 and realize the opening and closing action under the drive of the three-axis motion mechanism 4.

[0012] Furthermore, the steel wire rope 601 mounted on the two pulleys 205 has one end fixed to the Z-axis bracket 401, and the other end is a free end equipped with a suction cup 602 for gripping the goods in the freezer.

[0013] Furthermore, the long blades and short blades of the impeller 301 are staggered at a 90° interval.

[0014] The beneficial effects of this invention are reflected in: This section mainly integrates and innovates the methods of opening the freezer and grabbing items, primarily reflected in: 1. The present invention has a square pin installed on the slider of the Z-axis bracket. The upper part of the tongue of the front part of the square pin is flat and the lower part is curved. A spring is installed at the rear part of the square pin so that it can be extended and retracted. 2. The impeller is equipped with two long blades and two short blades. The long blades and short blades are arranged alternately. When the slider moves upward, the tongue at the front of the square pin extends under the elastic force of the rear spring. The plane on the upper part of the tongue can drive the impeller to rotate 90 degrees counterclockwise. The impeller is connected to a one-way bearing, and the impeller can only rotate in one direction and cannot rotate in the opposite direction; when the slider moves downward, the arc surface at the bottom of the square pin tongue retracts under the pressure of the impeller, which does not affect the downward movement of the Z-axis slider. 3. When the wire rope is mounted on the pulley, when the slider moves upward, the square pin drives the long blade of the impeller to rotate counterclockwise to the horizontal position. After the slider moves downward, the long blade of the impeller supports the support rod, so that the wire rope is suspended on the support rod and detaches from the pulley, thus the position of the gripping mechanism does not change when the slider moves up and down to open and close the cabinet door. 4. When the wire rope is suspended and detached from the pulley, as the slider moves upward, the square pin drives the short blades of the impeller to rotate counterclockwise to the horizontal position. After the slider moves downward, the short blades of the impeller detach from the support rod. Under the action of gravity, the support rod returns to the lower part, allowing the wire rope to be mounted on the pulley. This allows the slider to move up and down, changing the position of the gripping mechanism.

[0015] This invention achieves both the opening of the freezer door and the grabbing of items from the vending machine through the movement of a single mechanism. It ensures that each action is independent while allowing one mechanism to drive two separate devices. The individual movements of the freezer door and the grabbing device are achieved using only three coordinate axes, saving manufacturing costs. The structure is stable, the operation is smooth, the failure rate is low, and the repair cost is low. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of a self-service vending machine that uses a mechanical structure to switch working modes; Figure 2 This is a schematic diagram of a three-axis motion mechanism, switching mechanism, slider mechanism, door opening mechanism, and goods picking mechanism; Figure 3 This is an enlarged schematic diagram of the slider mechanism; Figure 4 This is an enlarged structural diagram of the switching mechanism and the slider mechanism; Figure 5 This is a schematic diagram of the steel wire rope in the suspended state. Figure 6 This is a schematic diagram of the square pin and spring structure.

[0017] Numbering on the map: Refrigerated display case 1; cabinet door 101; handle 102; slider mechanism 2; slider 201; pulley support 202; square pin 203; spring 204; pulley 205; switching mechanism 3; impeller 301; support rod 302; three-axis motion mechanism 4; Z-axis bracket 401; X-axis bracket 402; Y-axis bracket 403; door opening mechanism 5; connecting shaft 501; handle 502; picking mechanism 6; wire rope 601; suction cup 602. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0019] Reference Figure 1 A self-service vending machine that uses a mechanical structure to switch working modes includes a freezer 1 and a three-axis motion mechanism 4 installed outside the freezer 1; the freezer 1 includes a cabinet body and a cabinet door 101 on the upper part of the cabinet body; a handle 102 is installed on the cabinet door 101.

[0020] Reference Figure 2 The three-axis motion mechanism 4 includes a Z-axis support 401, an X-axis support 402, and a Y-axis support 403. The Z-axis support 401 is equipped with a switching mechanism 3, a lead screw, and a slider mechanism 2 that is mounted on the lead screw and can move up and down along the lead screw. The slider mechanism 2 is connected to the door opening mechanism 5 and the goods retrieval mechanism 6, and is used to open and close the cabinet door 101 and retrieve goods, respectively.

[0021] Reference Figure 3-6The slider mechanism 2 includes a slider 201, on which a pulley support 202 is fixedly installed. Inside the pulley support 202 are two pulleys 205 carrying steel wire ropes 601. One end of the steel wire rope 601 carried by the two pulleys 205 is fixed to the Z-axis bracket 401, and the other end is a free end, which is equipped with a suction cup 602 for gripping the goods in the freezer.

[0022] A square pin 203 is installed on the side of the pulley support 202; the square pin 203 is a prism structure with an arc surface at the rear, the front part of the prism is placed inside the pulley support 202, and a spring 204 is installed at the contact part with the pulley support 202; the arc surface and the rear part of the prism are placed outside the pulley support 202 and are used to trigger the switching mechanism 3. The switching mechanism 3 includes a bracket fixedly installed on the top of the Z-axis bracket 401, and an impeller 301 and a support rod 302 installed on the bracket; The impeller 301 is mounted on the bracket via a one-way bearing and bearing housing, and can be triggered to rotate in one direction by a square pin 203; the impeller 301 is provided with staggered long blades and short blades. One end of the support rod 302 is mounted on the bracket via a bearing and bearing seat, while the other end is a free end that can rotate freely. The free end is positioned above the impeller 301 and the two pulleys 205, ensuring that during the rotation of the impeller 301, the short blades remain separate from the support rod 302, while the long blades can contact the support rod 302, suspending the wire rope 601 between the two pulleys 205. The square pin 203, through the up-and-down movement of the slider mechanism 2, drives the support rod 302 and the impeller 301 to rotate. Each cycle includes a process of rising and then falling back, causing the impeller 301 to rotate at a certain angle. The long and short blades of the impeller 301 support or lower the support rod 302, thereby achieving the suspension and release of the wire rope 601 by the support rod 302.

[0023] The actions of picking up goods and opening / closing the door are achieved by a three-axis motion mechanism 4, which includes a Z-axis support 401, an X-axis support 402, and a Y-axis support 403. An X-axis slide rail is provided on the X-axis support 402 along the X-axis direction. The Y-axis support 403 is mounted on the X-axis slide rail of the X-axis support 402 and can move along the X-axis slide rail. A Y-axis slide rail is provided on the Y-axis support 403 along the Y-axis direction. The Z-axis support 401 is mounted on the Y-axis slide rail of the Y-axis support 403 and can move along the Y-axis slide rail. A Z-axis slide rail is mounted on the Z-axis support 401, and a slider 201 that can move along the Z-axis slide rail is provided on the Z-axis slide rail. The slider 201 is mounted on a door opening mechanism 5, which includes a connecting shaft 501 and a handle 502 mounted on the end of the connecting shaft 501. The handle 502 can engage with the handle 102 of the cabinet door 101, and realize the opening and closing action under the drive of the three-axis motion mechanism 4.

[0024] In a preferred embodiment, the long blades and short blades of the impeller 301 are staggered at 90° intervals.

[0025] The overall process for switching between opening / closing the cabinet door and retrieving goods is as follows: Step 1: Initial position: Grab cargo mode, the slider component is at the bottom and has not yet touched the support rod. As the slider component moves up, it lifts the support rod and begins to rotate around the fixed point of the support rod.

[0026] Step 2: During the upward movement, the square pin will contact the impeller blades and exert a thrust on the blades, rotating the impeller 90 degrees counterclockwise, changing it from a vertical state with long blades to a horizontal state. When the slider assembly descends, the impeller cannot rotate clockwise. The right side of the square pin is equipped with a spring, which works in conjunction with the specific arc structure of the square pin. During the downward movement, the impeller will push the square pin to the right. After reaching the bottom of the impeller, since the impeller cannot rotate clockwise, it can support the support rod, thereby supporting the wire rope. The movement of the slider assembly will not simultaneously drive the suction cup to move, allowing the device to enter the cabinet door opening / closing mode.

[0027] Step 3: The three-axis motion mechanism works in conjunction with the movement to drive the door opening device to open or close the freezer door.

[0028] Step 4: The slider assembly moves upward again under the drive of the lead screw and motor. During the upward movement, the square pin will contact the impeller again, rotating the impeller 90 degrees counterclockwise, changing from a horizontal state of long blades to a vertical state. The horizontal state of short blades cannot support the support rod. As the slider assembly moves downward, the support rod is released, causing it to fall. The wire rope falls back and is mounted on the pulley. The movement of the slider assembly will simultaneously drive the suction cup to move, causing the device to enter the cargo grabbing mode.

[0029] Step 5: After the goods are picked up, the slider assembly moves up again, and the movement process is the same as the previous two steps. The long blades of the impeller change from a vertical state to a horizontal state, suspending the steel wire rope, thus entering the cabinet door opening and closing mode, which can open or close the refrigerator door.

[0030] Step 6: Repeat the previous five steps to work in a loop.

[0031] This invention employs a specific mechanical mechanism to reliably switch between cabinet door opening / closing mode and cargo grabbing mode by suspending or releasing the steel wire rope and suction cup.

[0032] Although embodiments of the present invention have been presented and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention. The scope of the invention is defined by the appended claims and their equivalents. For example, similar mechanisms in this device, such as one-way bearings combined with specific rotating mechanisms and support rods, with some structural modifications but no change in implementation principle, are all within the scope of protection of this patent.

Claims

1. A switching method for a self-service vending machine that employs a mechanical structure to switch working modes, characterized in that: It includes a freezer (1) and a three-axis motion mechanism (4) installed outside the freezer (1). The freezer (1) includes a cabinet body and a cabinet door (101) on the upper part of the cabinet body; a handle (102) is installed on the cabinet door (101). The three-axis motion mechanism (4) includes a Z-axis support (401), an X-axis support (402), and a Y-axis support (403); a switching mechanism (3), a lead screw, and a slider mechanism (2) mounted on the lead screw and capable of moving up and down along the lead screw are installed on the Z-axis support (401); the slider mechanism (2) is connected to the door opening mechanism (5) and the goods retrieval mechanism (6), and is used to open and close the cabinet door (101) and retrieve goods, respectively; The slider mechanism (2) includes a slider (201), on which a pulley support (202) is fixedly installed; the pulley support (202) has two pulleys (205) carrying a steel wire rope (601) installed inside. A square pin (203) is installed on the side of the pulley support (202); the square pin (203) is a prism structure with an arc surface at the rear, the front part of the prism is placed inside the pulley support (202), and a spring (204) is installed at the contact part with the pulley support (202); the arc surface and the rear part of the prism are placed outside the pulley support (202) for triggering the switching mechanism (3). The switching mechanism (3) includes a bracket fixedly installed on the top of the Z-axis bracket (401) and an impeller (301) and a support rod (302) installed on the bracket. The impeller (301) is mounted on the bracket via a one-way bearing and bearing housing, and can be triggered to rotate in one direction by a square pin (203); the impeller (301) is provided with long blades and short blades arranged in an alternating manner; One end of the support rod (302) is mounted on the bracket through a bearing and bearing seat, and the other end is a free end that can rotate freely. The free end is set above the impeller (301) and the two pulleys (205), so that during the rotation of the impeller (301), the short blades are always separated from the support rod (302), and the long blades can contact the support rod (302) to hang the wire rope (601) between the two pulleys (205); The three-axis motion mechanism (4) includes a Z-axis support (401), an X-axis support (402), and a Y-axis support (403); an X-axis slide rail is provided on the X-axis support (402) along the X-axis direction; The Y-axis bracket (403) is mounted on the X-axis slide rail of the X-axis bracket (402) and can move along the X-axis slide rail; The Y-axis bracket (403) is provided with a Y-axis slide rail along the Y-axis direction; the Z-axis bracket (401) is installed on the Y-axis slide rail of the Y-axis bracket (403) and can move along the Y-axis slide rail; A Z-axis slide rail is installed on the Z-axis bracket (401), and a slider (201) that can move along the Z-axis slide rail is provided on the Z-axis slide rail. The slider (201) is installed on the door opening mechanism (5). The door opening mechanism (5) includes a connecting shaft (501) and a handle (502) installed at the end of the connecting shaft (501). The handle (502) can engage with the handle (102) of the cabinet door (101) and realize the opening and closing action under the drive of the three-axis motion mechanism (4). The square pin (203) drives the support rod (302) and impeller (301) to rotate through the up and down movement of the slider mechanism (2). Each cycle includes a process of rising and then falling back, which drives the impeller (301) to rotate a certain angle. The long blades and short blades of the impeller (301) support or lower the support rod (302), thereby realizing the suspension and release of the steel wire rope (601) by the support rod (302). The steel wire rope (601) mounted on the two pulleys (205) has one end fixed to the Z-axis bracket (401) and the other end is a free end, which is equipped with a suction cup (602) for grabbing the goods in the freezer. The long blades and short blades of the impeller (301) are staggered at 90° intervals; The method flow is as follows: Step 1: Initial position: Grab cargo mode, the slider component is at the bottom and has not yet touched the support rod. As the slider component moves up, it lifts the support rod and begins to rotate around the fixed point of the support rod. Step 2: During the upward movement, the square pin will contact the blades of the impeller and exert a thrust on the blades, rotating the impeller 90 degrees counterclockwise, changing it from a vertical state to a horizontal state. When the slider assembly descends, the impeller cannot rotate clockwise. The right side of the square pin is equipped with a spring and a specific arc structure that works with the square pin. During the downward movement, the impeller will push the square pin to the right. After reaching the bottom of the impeller, since the impeller cannot rotate clockwise, it can support the support rod, thereby supporting the wire rope. The movement of the slider assembly will not simultaneously drive the suction cup to move, allowing the device to enter the cabinet door opening and closing mode. Step 3: The three-axis motion mechanism works in coordination to drive the door opening device to open or close the freezer door; Step 4: The slider assembly moves upward again under the drive of the lead screw and motor. During the upward movement, the square pin will contact the impeller again, rotating the impeller 90 degrees counterclockwise, changing from a horizontal state of long blades to a vertical state. The horizontal state of short blades cannot support the support rod. As the slider assembly moves downward, the support rod is released, causing the support rod to fall. The wire rope falls back and is mounted on the pulley. The movement of the slider assembly will simultaneously drive the suction cup to move, causing the device to enter the cargo grabbing mode. Step 5: After the goods are picked up, the slider assembly moves up again, and the movement process is the same as the previous two steps. The long blades of the impeller change from a vertical state to a horizontal state, suspending the steel wire rope, thus entering the cabinet door opening and closing mode, which can open or close the refrigerator door.

Images