Self-service vegetable vending machine

Abstract

The present invention relates to the field of automation equipment technology, and in particular to a mechanical device capable of automatically outputting and selling packaged vegetables, in particular a self-service vegetable vending machine, comprising a self-service settlement control system, wherein the self-service settlement control system is used to display relevant information of vegetables currently on sale, and further comprises an automatic vegetable inventory and pickup device, an automatic pickup and transfer device, and a cargo output mechanism, wherein the actions of the automatic vegetable inventory and pickup device, the automatic pickup and transfer device, and the cargo output mechanism are all controlled by the self-service settlement control system in the prior art, and various vegetables need to be packaged, weighed, and priced by replenishment personnel in advance through packaging boxes or fresh-keeping boxes and fresh-keeping films, and then stored in the grids of the storage cavity of each shelf by operators, which is cleaner and more hygienic; the problem of cross-infection caused by multiple people touching the same batch of vegetables is avoided, so that the entire sales process is relatively simple and safe, and the hygienic safety of the sales environment is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of automated equipment, and in particular to a mechanical device capable of automatically outputting and selling packaged vegetables, in particular a self-service vegetable vending machine. Background Art

[0002] The traditional way of selling vegetables is mainly to have sales staff manually weigh and sell them at fixed stalls in supermarkets or markets or mobile stalls on the roadside. Customers will pick and choose vegetables at the stalls when buying vegetables, and usually they will choose over and over again. This sales method will not only accelerate the deterioration and rot of vegetables, but also there will be hygiene problems when multiple people touch the vegetables multiple times, which can easily cause damage to the vegetables and also make the vegetables become an intermediate transmission medium for infectious bacteria and viruses.

[0003] This is because the traditional sales method is not only likely to affect the quality of the vegetables themselves and shorten the shelf life of vegetables, but it is also easy to cause bacteria and viruses to spread among customers through vegetables. For this reason, after a long period of research and design, our company has specially developed a self-service vegetable vending machine that can solve the above-mentioned existing technical problems. Summary of the invention

[0004] The present invention solves one of the above technical problems, and the technical solution adopted is: a self-service vegetable vending machine, comprising a self-service settlement control system, the self-service settlement control system is used to display the relevant information of the vegetables currently sold, and also comprises a vegetable automatic storage and picking device, an automatic picking and transferring device, and a goods output mechanism, and the actions of the vegetable automatic storage and picking device, the automatic picking and transferring device, and the goods output mechanism are all controlled by the self-service settlement control system in the prior art;

[0005] The automatic pickup and transfer device is arranged downstream of the vegetable automatic storage and pickup device, the goods output mechanism is arranged downstream of the automatic pickup and transfer device, and the self-service settlement control system is arranged downstream of the goods output mechanism;

[0006] The automatic vegetable storage and picking device is used to realize the unified arrangement and storage of various types of vegetables and to move them to the positions as needed. The automatic picking and transferring device is used to realize the automatic picking of vegetables that customers need to buy and transfer them to the goods output mechanism. The goods output mechanism outputs the vegetables on it to the customer's picking position through its own movement.

[0007] The automatic vegetable storage and retrieval device and the vegetables stored thereon are isolated from customers and allow customers to observe the various vegetables to be sold in a non-contact manner.

[0008] The self-service checkout control system set up here adopts existing technologies, including a touch operation screen and a control center, which can control the automatic vegetable inventory and picking device and the automatic picking and transferring device to perform corresponding execution actions according to the customer's purchase choices.

[0009] The self-service vegetable vending machine has the replenishment staff pre-pack the vegetables and place them in the grids of the corresponding storage chamber. At the same time, the people and the vegetables are isolated. Customers do not need to touch and select repeatedly when purchasing, but can clearly see the overall condition of the vegetables and the color and integrity of the surface. This not only avoids the accelerated deterioration of vegetables caused by different customers frequently touching the vegetables, but also avoids the problem of cross-infection caused by multiple people touching the same batch of vegetables. This makes the entire sale relatively simple and safe, improves the sales efficiency, and ensures the hygiene and safety of the sales environment.

[0010] Preferably, the self-service vegetable vending machine also includes a self-service vending room, and the vegetable automatic inventory and retrieval device, the automatic retrieval and transfer device, the cargo output mechanism, and the self-service settlement control system are all installed inside the self-service vending room. An isolation observation board is installed at the position of the self-service settlement control system. The isolation observation board is used to separate the self-service settlement control system from the vegetable automatic inventory and retrieval device and the automatic retrieval and transfer device. A vegetable output port is provided at the position of the isolation observation board corresponding to the cargo output mechanism, and the end of the cargo output mechanism extends out of the vegetable output port and extends to the customer pickup position.

[0011] The main purpose of setting up an isolation observation board is to separate people and vegetables, avoid cross-infection caused by excessive touching, and ensure the safe and hygienic sale of vegetables.

[0012] Preferably, a transparent glass is installed on the observation window on the isolation observation panel to facilitate customers to observe the conditions of the vegetables inside.

[0013] A protective door is installed on the side wall of the self-service vending room where the vegetable automatic inventory and retrieval device is located. The protective door is opened by staff when replenishing the goods and is closed under normal conditions.

[0014] Preferably, the automatic vegetable storage and retrieval device includes a fixed storage cabinet, in which a plurality of shelf assemblies for placing vegetables are spaced from top to bottom, and the bottom of the inner and outer sides of each shelf assembly are slidably engaged with the top of a supporting guide assembly at its corresponding position, and each supporting guide assembly is fixedly arranged relative to the storage cabinet, and a fixed frame is fixedly installed on the front periphery of the storage cabinet, and a lifting platform is provided under the lowest shelf assembly, and the lifting platform is driven by a lifting mechanism installed in the fixed frame to achieve lifting and lowering in the height direction of the storage cabinet, and a pulling mechanism is installed on the lifting platform, and the pulling mechanism is used to drive the shelf assembly at the corresponding position to achieve horizontal movement in the width direction of the storage cabinet.

[0015] The multiple shelf components arranged in sequence from top to bottom set on the automatic vegetable inventory and retrieval device can effectively increase the storage capacity of vegetables in the entire storage cabinet, ensure the sales capacity of a single machine, and effectively reduce the number of replenishment times, thereby reducing the workload of replenishment personnel while meeting usage needs.

[0016] In addition, in terms of the method of replenishing and shipping, when replenishing, the operator only needs to place the packaged vegetables into each storage cavity on the bottom shelf assembly. After each layer is placed, the operator can control the various electric structures to execute movement, so that under the mutual coordination of the lifting mechanism, the lifting platform, and the pulling mechanism, the shelf assembly filled with vegetables is transported upward to the placement position of the corresponding supporting guide assembly inside the storage cabinet, thereby greatly reducing the large amount of labor caused by the need to manually place packaged vegetables in storage spaces at different heights during the replenishment process.

[0017] Preferably, mounting gratings for detecting whether the bottom is in place are respectively installed at the lower parts of both sides of the front end surface of the fixed frame.

[0018] Preferably, a front photoelectric switch is arranged on the front side of the lifting platform, and a rear photoelectric switch is arranged on the rear side of the lifting platform.

[0019] Preferably, a front magnetic switch and a rear magnetic switch for detecting whether the front and rear positions are in place are respectively provided on the pulling mechanism.

[0020] The installed gratings, front photoelectric switches, rear photoelectric switches, front magnetic switches, and rear magnetic switches are all received by the control center of the self-service settlement control system and send corresponding instructions.

[0021] Preferably, the shelf assembly includes a pallet, on top of which a shelf is placed, on which a plurality of storage cavities are arranged, each of which is used to store vegetables that have been wrapped in plastic wrap and marked with prices for sale, and on both sides of the pallet are spaced apart a plurality of guide wheels, each of which is movably sleeved on a fixed shaft on both sides of the pallet at a corresponding position, and each of which cooperates with the top of the supporting guide assembly arranged at a corresponding position.

[0022] When the pallet moves, the lifting platform is driven up and down through the lifting mechanism, thereby driving the pulling mechanism on the lifting platform to rise and fall together. Under the action of the pulling mechanism, the pallet is driven to move forward and backward. When the pallet moves to the corresponding supporting guide assembly position, each guide wheel will enter the guide groove of the supporting guide assembly, so that under the action of the friction force of the pulling belt, the guide wheels on both sides of the pallet can move forward and backward along the corresponding V-shaped guide groove.

[0023] Preferably, the supporting guide assembly includes two supporting guide rails that are symmetrically arranged, each of the supporting guide rails is fixedly mounted on the inner wall of the storage cabinet at a corresponding position, each of the supporting guide rails is arranged along the front and rear direction of the storage cabinet, and a guide groove is provided on the supporting guide rail along its length direction, and each of the guide wheels at the corresponding position on the shelf assembly is movably engaged in the guide groove.

[0024] Preferably, the cross section of the guide groove is a V-shaped cross section, and a limit block is fixedly installed at the front and rear ends of the guide groove respectively.

[0025] When the guide groove of the V-shaped cross section cooperates with the guide wheel to perform relative movement, the guide groove of the V-shaped cross section can play the role of guiding, limiting and automatically aligning.

[0026] The limit blocks arranged on both sides of the guide groove can play the role of stopping in place and limiting positioning, preventing the support plate from moving randomly after being placed in place.

[0027] Preferably, the storage cabinet is installed and placed inside the self-service vending room on the left side of the isolation observation panel.

[0028] Preferably, the lifting mechanism includes two lifting components that are symmetrically fixed on the two opposite inner walls of the fixed frame, and the two lifting components move synchronously. The upper and lower parts of the two lifting components are respectively connected by a horizontally arranged upper support transverse axis and a lower support transverse axis, and the two ends of the upper support transverse axis and the lower support transverse axis are respectively movably inserted into the axial holes of the two opposite inner walls of the fixed frame. The lower support transverse axis is driven by a lifting motor and a transmission component. The two lifting components are respectively installed in cooperation with the two sides of the rear end of the lifting platform, and the two lifting components drive the lifting platform to rise and fall through synchronous movement.

[0029] When the lifting motor drives the two lifting components to operate, it will effectively drive the lifting platform to rise and fall, thereby driving the lifted pulling mechanism to move to the bottom of the bracket of the corresponding shelf component. At this time, when the pulling motor drives the pulling belt to operate, it will drive the pallet to move, and then drive it to enter or move out of the supporting guide component in the storage cabinet.

[0030] Preferably, the lifting assembly includes an upper toothed pulley and a lower toothed pulley, the upper toothed pulley is fixedly mounted on the outer side wall of the upper supporting transverse axis, and the lower toothed pulley is fixedly mounted on the outer side wall of the lower supporting transverse axis, the upper toothed pulley and the lower toothed pulley are transmitted by a toothed lifting belt, and the front belt of the toothed lifting belt is fixedly connected to the rear end side wall of the lifting platform at the corresponding position.

[0031] The movement of the lifting assembly is achieved through the driving of the lifting motor and the transmission parts. When the lifting motor rotates, it will drive the lower supporting horizontal axis to rotate through the transmission parts, thereby driving the two lower toothed pulleys to rotate synchronously, and then drive the upper supporting horizontal axis and the two upper toothed pulleys thereon to rotate through the toothed lifting belt. Finally, under the action of the rotating motion of the toothed lifting belt, the lifting platform connected to it is driven to achieve lifting and lowering motion.

[0032] Preferably, a limit guide column is symmetrically arranged in the fixed frame between the two lifting components, and the two limit guide columns are respectively arranged on the front side of the upper support horizontal axis and the lower support horizontal axis, and the top and bottom of the two limit guide columns are respectively fixed to the fixed frame, and the rear end of the lifting platform is movably connected to the outer walls of the two limit guide columns through through holes.

[0033] The two limit guide columns set here can cooperate with the lifting platform to realize the rotation and tilt limit of the lifting platform. At the same time, the lifting platform can move in the vertical direction to play the role of limit fixation, and at the same time cooperate with the fixation of the lifting components to achieve better stability.

[0034] Preferably, the pulling and drawing mechanism includes two sliding slots symmetrically arranged on both sides of the rear end of the lifting platform, each of the sliding slots is slidably engaged with a sliding seat, and a pulling cylinder is fixedly installed on the end surface of the sliding slot on the rear side of each sliding seat, and the two pulling and drawing cylinders are controlled by a pneumatic control system to achieve synchronous movement, the rear ends of the piston rods of the two pulling and drawing cylinders are respectively fixedly connected to the sliding seats at corresponding positions, a strip groove is respectively arranged on the inner side of each sliding slot, and a top opening is respectively arranged on the top of each sliding slot, and two belt drive wheels are respectively movably installed on each sliding seat, and the two belt drive wheels at corresponding positions are connected by a pulling belt. The upper belt of the pulling belt extends upward from the top opening and is higher than the top of the lifting platform. The tops of the two pulling belts are respectively used to abut against the bottom of the support plate at the corresponding position above them and drive the support plate and the layer frame on its top to move in the front and rear directions through transmission friction. A pulling motor is fixedly installed on the inner side of each sliding seat. The motor shaft of the pulling motor is respectively connected to the central axis of the belt drive wheel at the corresponding position. Each pulling motor is respectively used to drive the corresponding pulling belt to perform forward and reverse movements. The two pulling motors are servo motors that move synchronously. The front magnetic switch and the rear magnetic switch are respectively installed at the corresponding positions on the front and rear sides of each pulling cylinder.

[0035] The lifting and lowering movement of the entire pulling and pulling mechanism follows the lifting platform. When the lifting platform moves to the specified position, the pulling and pulling component can drive the support plate of the shelf component abutting on its top and its upper components to achieve horizontal movement by controlling the movement of the pulling and pulling mechanism. The change in the size of the driving displacement of the entire pulling and pulling mechanism is controlled by the extension and contraction of the corresponding two pulling and pulling cylinders, so as to realize the movement of the support plate into place according to the set movement amplitude as needed.

[0036] Preferably, the automatic cargo pickup and transfer device includes a fixed base, a first power rotary shaft with a drive unit is installed on the top of the base, a first rocker arm is fixedly installed on the top of the first power rotary shaft, a second power rotary shaft with a power unit is installed on the free end of the first rocker arm, a second rocker arm is fixedly installed on the top of the second power rotary shaft, and a floating suction cup group is installed on the working end of the second rocker arm, the floating suction cup group is used to grab the packaged vegetables to be sold on the shelf assembly on the top of the lifting platform and transfer them to the cargo output mechanism for outward transportation.

[0037] When the entire automatic cargo pickup and transfer device is in operation, the first power rotary shaft is driven by the driving unit and control system equipped to realize the rotation of the first rocker arm, thereby driving the second rocker arm and the floating suction cup group thereon to shift, and then the second rocker arm is driven to swing by the driving unit and control system on the second power rotary shaft, and finally the floating suction cup group is driven to move to the top of the designated product to be grasped, and the floating suction cup group is controlled to move downward to realize vacuum adsorption of the product, thereby realizing picking, and after picking, the rotation of the first rocker arm and the second rocker arm are continued to be controlled, and finally the floating suction cup group with the product adsorbed is driven to move to the top of the cargo output mechanism, and then the suction cup is controlled to unload the force, so that the product falls on the cargo output mechanism and waits for external output.

[0038] Preferably, the floating suction cup group includes a double-rod cylinder fixedly mounted on the working end of the second rocker arm, a force sensor is fixedly mounted on the bottom of the piston rod of the double-rod cylinder, and a suction cup group is mounted on the bottom of the force sensor.

[0039] The double-rod cylinder can drive the entire suction cup group to rise and fall as needed through its own extension and contraction, thereby achieving the pressing force when picking up vegetable products and ensuring the success rate of picking up.

[0040] Preferably, the suction cup group includes a plurality of vacuum suction cups arranged at intervals, each of the vacuum suction cups is connected to an external vacuum generator, and a vacuum pressure gauge for detecting the vacuum pressure of the vacuum suction cup is provided on the second rocker arm.

[0041] The vacuum suction cup is a butterfly suction cup, and the butterfly suction cup can be tilted and swung along the circumferential direction to absorb objects, thereby improving the success rate of picking up products.

[0042] Preferably, the number of the vacuum suction cups is 5, one of which is located in the center and is a central suction cup, and the remaining 4 are evenly arranged on the periphery of the central suction cup, and the central suction cup is connected to the vacuum pressure gauge.

[0043] Preferably, each of the vacuum suction cups is individually connected to an external vacuum generator.

[0044] Preferably, a rotation limiting column for limiting the rotation angle of the second rocker arm is fixedly installed on the top of the first rocker arm inside the second power rotary shaft.

[0045] Preferably, the cargo output mechanism is a belt conveyor, the front end of the belt conveyor passes through the vegetable output port on the isolation observation board, and the control part of the self-service settlement control system adopts the existing control system.

[0046] The beneficial effects of the present invention are embodied in:

[0047] 1. All kinds of vegetables need to be packed, weighed and priced in packing boxes or fresh-keeping boxes and plastic wrap by replenishment personnel in advance, and then stored in the grids of the storage cavity of each shelf by the operator, which is cleaner and more hygienic.

[0048] 2. Customers do not need to touch the vegetables repeatedly when purchasing, but they can clearly see the overall condition of the vegetables and the color and integrity of the surface. This not only avoids the accelerated deterioration of vegetables caused by different customers frequently touching the vegetables, but also avoids the cross-infection problem caused by multiple people touching the same batch of vegetables. This makes the entire sale relatively simple and safe, improves sales efficiency, and ensures the hygiene and safety of the sales environment.

[0049] 3. The design of the entire vending machine structure can better achieve rapid replenishment, with high replenishment efficiency and reduced workload of replenishment personnel. The placement of shelf components during replenishment and pickup is mechanized, and the overall operating efficiency is higher.

[0050] 4. When picking vegetables outward, multiple vacuum suction cups work together to better improve the picking accuracy, with high picking efficiency, large movement range and wide range. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or components are generally identified by similar reference numerals. In the drawings, the elements or components are not necessarily drawn according to the actual scale.

[0052] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0053] Figure 2 It is a schematic diagram of the internal structure of the present invention.

[0054] Figure 3 It is a schematic diagram of the local structure of the present invention.

[0055] Figure 4 It is a first three-dimensional structural schematic diagram of the automatic vegetable storage and retrieval device of the present invention.

[0056] Figure 5 For the present invention Figure 4 Schematic diagram of the local structure.

[0057] Figure 6 It is a second stereoscopic structural schematic diagram of the automatic vegetable storage and retrieval device of the present invention.

[0058] Figure 7 for Figure 5 Schematic diagram of the side structure.

[0059] Figure 8 It is a schematic diagram of the inclined upward structure of the lifting platform of the present invention.

[0060] Fig. 9 It is a schematic structural diagram of the shelf assembly of the present invention.

[0061] Fig.10 It is a schematic structural diagram of the drawer assembly of the present invention.

[0062] Fig.11 It is a schematic diagram of the three-dimensional structure of the automatic cargo pickup and transfer device of the present invention.

[0063] Fig.12 for Fig.11 Schematic diagram of the main structure.

[0064] Fig.13 It is a schematic diagram of the partial structure of the automatic cargo pickup and transfer device of the present invention.

[0065] Fig.14 It is a schematic diagram of the cargo pickup range of the automatic cargo pickup and transfer device of the present invention.

[0066] In the figure, 1. self-service settlement control system; 2. automatic vegetable storage and picking device; 3. automatic picking and transferring device; 4. cargo output mechanism; 5. self-service sales room; 6. isolation observation board; 7. vegetable output port; 8. transparent glass; 9. storage cabinet; 10. shelf assembly; 11. supporting guide assembly; 12. fixed frame; 13. lifting platform; 14. pulling mechanism; 15. storage cavity; 16. lifting mechanism; 17. installation grating; 18. front photoelectric switch; 19. rear photoelectric switch; 20. vacuum suction cup; 21. vacuum pressure gauge; 22. pallet; 23. shelf; 24. suction cup group; 25. guide wheel; 26. supporting guide rail; 2 7. Guide groove; 28. Limit block; 29. ​​Lifting assembly; 30. Upper supporting horizontal axis; 31. Lower supporting horizontal axis; 32. Lifting motor; 33. Upper toothed pulley; 34. Lower toothed pulley; 35. Toothed lifting belt; 36. Rotary limiting column; 37. Sliding slot; 38. Sliding seat; 39. Pull-out cylinder; 40. Strip groove; 41. Top opening; 42. Belt drive wheel; 43. Pull-out belt; 44. Pull-out motor; 45. Force sensor; 46. Base; 47. First power rotary shaft; 48. First rocker arm; 49. Second power rotary shaft; 50. Second rocker arm; 51. Floating suction cup group; 52. Double-rod cylinder. DETAILED DESCRIPTION

[0067] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0068] like Figure 1-14 As shown in the figure, the self-service vegetable vending machine includes a self-service settlement control system 1, which is used to display the relevant information of the vegetables currently sold, and also includes a vegetable automatic storage and picking device 2, an automatic picking and transferring device 3, and a goods output mechanism 4. The actions of the vegetable automatic storage and picking device 2, the automatic picking and transferring device 3, and the goods output mechanism 4 are all controlled by the self-service settlement control system 1 in the prior art;

[0069] The automatic pickup and transfer device 3 is arranged downstream of the vegetable automatic storage and pickup device 2, the goods output mechanism 4 is arranged downstream of the automatic pickup and transfer device 3, and the self-service settlement control system 1 is arranged downstream of the goods output mechanism 4;

[0070] The automatic vegetable storage and picking device 2 is used to realize the unified arrangement and storage of various types of vegetables and to move them to the position as needed. The automatic picking and transferring device 3 is used to realize the automatic picking of vegetables that customers need to buy and transfer them to the goods output mechanism 4. The goods output mechanism 4 outputs the vegetables on it to the customer's picking position through its own movement.

[0071] The automatic vegetable storage and retrieval device 2 and the vegetables stored thereon are isolated from customers and allow customers to observe the various vegetables to be sold in a non-contact manner.

[0072] The self-service checkout control system 1 provided here adopts the existing technology, including a touch operation screen and a control center, and can control the automatic vegetable inventory and picking device 2 and the automatic picking and transferring device 3 to perform corresponding execution actions according to the customer's purchase selection.

[0073] The self-service vegetable vending machine has the replenishment personnel pre-pack the vegetables and place them in the grids of the corresponding storage chamber 15, while isolating people and vegetables. Customers do not need to touch and select repeatedly when purchasing, but can clearly see the overall condition of the vegetables and the color and integrity of the surface, etc. This not only avoids the accelerated deterioration of vegetables caused by different customers frequently touching the vegetables, but also avoids the problem of cross-infection caused by multiple people touching the same batch of vegetables, making the entire sale relatively simple and safe, improving the sales efficiency, and ensuring the hygiene and safety of the sales environment.

[0074] Preferably, the self-service vegetable vending machine also includes a self-service vending room 5, the vegetable automatic inventory and picking device 2, the automatic picking and transferring device 3, the cargo output mechanism 4, and the self-service settlement control system 1 are all installed inside the self-service vending room 5, and an isolation observation panel 6 is installed at the position of the self-service settlement control system 1, and the isolation observation panel 6 is used to separate the self-service settlement control system 1 from the vegetable automatic inventory and picking device 2 and the automatic picking and transferring device 3, and a vegetable output port 7 is provided at the position of the isolation observation panel 6 corresponding to the cargo output mechanism 4, and the end of the cargo output mechanism 4 extends out of the vegetable output port 7 and extends to the customer pickup position.

[0075] The main purpose of setting the isolation observation board 6 is to separate people from vegetables, avoid cross infection caused by excessive touching, and ensure the safety and hygiene of vegetable sales.

[0076] Preferably, a transparent glass 8 is installed on the observation window on the isolation observation plate 6 to facilitate customers to observe the conditions of the vegetables inside.

[0077] A protective door is installed on the side wall of the self-service vending room 5 where the vegetable automatic inventory and retrieval device 2 is located. It is opened by the staff when replenishing the goods and is closed under normal conditions.

[0078] Preferably, the automatic vegetable inventory and retrieval device 2 includes a fixed storage cabinet 9, in which a plurality of shelf assemblies 10 for placing vegetables are spaced from top to bottom, and the bottom of the inner and outer sides of each shelf assembly 10 are slidably engaged with the top of a supporting guide assembly 11 at its corresponding position, and each supporting guide assembly 11 is fixedly arranged relative to the storage cabinet 9. A fixed frame 12 is fixedly installed on the front periphery of the storage cabinet 9, and a lifting platform 13 is provided below the lowest shelf assembly 10. The lifting platform 13 is driven by a lifting mechanism 16 installed in the fixed frame 12 to achieve lifting and lowering in the height direction of the storage cabinet 9, and a pulling mechanism 14 is installed on the lifting platform 13. The pulling mechanism 14 is used to drive the shelf assembly 10 at the corresponding position to achieve horizontal movement in the width direction of the storage cabinet 9.

[0079] The multiple shelf assemblies 10 arranged in sequence from top to bottom provided on the automatic vegetable inventory and retrieval device 2 can effectively increase the storage capacity of the entire storage cabinet 9 for storing vegetables, ensuring the sales capacity of a single machine while effectively reducing the number of replenishment times, thereby reducing the workload of replenishment personnel while meeting usage requirements.

[0080] In addition, in terms of the method of replenishing and shipping, when replenishing, the operator only needs to place the packaged vegetables into each storage cavity 15 on the bottom shelf assembly 10. After each layer is placed, the operator can control the various electric structures to perform movements, so that under the mutual cooperation of the lifting mechanism 16, the lifting platform 13, and the pulling mechanism 14, the shelf assembly 10 filled with vegetables is transported upward to the placement position of the corresponding supporting guide assembly 11 inside the storage cabinet 9, thereby greatly reducing the large amount of labor caused by the need to manually place packaged vegetables in storage spaces at different heights during the replenishment process.

[0081] Preferably, mounting gratings 17 for detecting whether the bottom is in place are respectively installed at the lower parts of both sides of the front end surface of the fixed frame 12 .

[0082] Preferably, a front photoelectric switch 18 is provided on the front side of the lifting platform 13 , and a rear photoelectric switch 19 is provided on the rear side of the lifting platform 13 .

[0083] Preferably, the pulling mechanism 14 is provided with a front magnetic switch and a rear magnetic switch for detecting whether the front and rear positions are in place, respectively.

[0084] The control center of the self-service checkout control system 1 receives signals and issues corresponding instructions from the installed grating 17, the front photoelectric switch 18, the rear photoelectric switch 19, the front magnetic switch and the rear magnetic switch.

[0085] Preferably, the shelf assembly 10 includes a support plate 22, on top of which a shelf 23 is placed, on which a plurality of storage cavities 15 are arranged, each of which is used to store vegetables that have been wrapped in plastic wrap and marked with prices and are ready for sale, and on both sides of the support plate 22 a plurality of guide wheels 25 are spaced apart, each of which is movably sleeved on a fixed shaft on both sides of the support plate 22 at a corresponding position, and each of which cooperates with the top of the supporting guide assembly 11 arranged at a corresponding position.

[0086] When the pallet 22 moves, it drives the lifting platform 13 to rise and fall through the lifting mechanism 16, thereby driving the pulling mechanism 14 on the lifting platform 13 to rise and fall together. Under the action of the pulling mechanism 14, the pallet 22 will be driven to move forward and backward. When the pallet 22 moves to the corresponding position of the supporting guide assembly 11, each guide wheel 25 will enter the guide groove 27 of the supporting guide assembly 11, so that under the action of the friction force of the pulling belt 43, the guide wheels 25 on both sides of the pallet 22 can move forward and backward along the corresponding V-shaped guide groove 27.

[0087] Preferably, the supporting guide assembly 11 includes two supporting guide rails 26 that are symmetrically arranged, each of the supporting guide rails 26 is fixedly mounted on the inner wall of the storage cabinet 9 at a corresponding position, each of the supporting guide rails 26 is arranged along the front and rear direction of the storage cabinet 9, and a guide groove 27 is arranged on the supporting guide rail 26 along its length direction, and each of the guide wheels 25 at the corresponding position on the shelf assembly 10 is movably engaged in the guide groove 27.

[0088] Preferably, the cross section of the guide groove 27 is a V-shaped cross section, and a limit block 28 is fixedly installed at the front and rear ends of the guide groove 27 respectively.

[0089] When the guide groove 27 with a V-shaped cross section cooperates with the guide wheel 25 to perform relative movement, the guide groove 27 with a V-shaped cross section can play the role of guiding, limiting and automatically aligning.

[0090] The limiting blocks 28 disposed on both sides of the guide groove 27 can play the role of stopping and limiting the positioning, thereby preventing the support plate 22 from moving randomly after being placed in place.

[0091] Preferably, the storage cabinet 9 is installed and placed inside the self-service vending room 5 on the left side of the isolation observation panel 6 .

[0092] Preferably, the lifting mechanism 16 includes two lifting components 29 which are symmetrically fixed on the two opposite inner walls of the fixed frame 12, and the two lifting components 29 move synchronously. The upper and lower parts of the two lifting components 29 are respectively connected by a horizontally arranged upper support horizontal axis 30 and a lower support horizontal axis 31. The two ends of the upper support horizontal axis 30 and the lower support horizontal axis 31 are respectively movably inserted into the axial holes of the two opposite inner walls of the fixed frame 12, and the lower support horizontal axis 31 is driven by a lifting motor 32 and a transmission component 32. The two lifting components 29 are respectively installed in cooperation with the two sides of the rear end of the lifting platform 13, and the two lifting components 29 drive the lifting platform 13 to rise and fall through synchronous movement.

[0093] When the lifting motor 32 drives the two lifting components 29 to operate, it will effectively drive the lifting platform 13 to rise and fall, thereby driving the lifted pulling mechanism 14 to move to the bottom of the bracket of the corresponding shelf component 10. At this time, when the pulling motor 44 drives the pulling belt 43 to operate, it will drive the support plate 22 to move, and then drive it to enter or move out of the supporting guide component 11 in the storage cabinet 9.

[0094] Preferably, the lifting assembly 29 includes an upper toothed pulley 33 and a lower toothed pulley 34, the upper toothed pulley 33 is fixedly mounted on the outer wall of the upper supporting horizontal shaft 30, and the lower toothed pulley 34 is fixedly mounted on the outer wall of the lower supporting horizontal shaft 31, the upper toothed pulley 33 and the lower toothed pulley 34 are transmitted by a toothed lifting belt 35, and the front belt of the toothed lifting belt 35 is fixedly connected to the rear end side wall of the lifting platform 13 at the corresponding position.

[0095] The movement of the lifting component 29 is achieved by driving the lifting motor 32 and cooperating with the transmission parts. When the lifting motor 32 rotates, it will drive the lower supporting horizontal shaft 31 to rotate through the transmission parts, thereby driving the two lower toothed belt pulleys 34 to rotate synchronously, and then drive the upper supporting horizontal shaft 30 and the two upper toothed belt pulleys 33 thereon to rotate through the toothed lifting belt 35. Finally, under the action of the rotational movement of the toothed lifting belt 35, the lifting platform 13 connected to it is driven to achieve lifting and lowering movement.

[0096] Preferably, the pulling mechanism 14 includes two sliding slots 37 symmetrically arranged on both sides of the rear end of the lifting platform 13, and a sliding seat 38 is slidably engaged in each of the sliding slots 37. A pulling cylinder 39 is fixedly installed on the end surface of the sliding slot 37 on the rear side of each sliding seat 38. The two pulling cylinders 39 are controlled by a pneumatic control system to achieve synchronous movement. The rear ends of the piston rods of the two pulling cylinders 39 are respectively fixedly connected to the sliding seats 38 at corresponding positions. A strip groove 40 is respectively provided on the inner side of each of the sliding slots 37, and a top opening 41 is respectively provided on the top of each of the sliding slots 37. Two belt drive wheels 42 are respectively movably installed on each of the sliding seats 38, and the two belt drive wheels 42 at corresponding positions are connected by a pulling belt 43. The upper belt of the pulling belt 43 extends upward from the top opening 41 and is higher than the top of the lifting platform 13. The tops of the two pulling belts 43 are respectively used to abut against the bottom of the support plate 22 at the corresponding position above them and drive the support plate 22 and the layer frame 23 on its top to move in the front and rear directions through transmission friction. A pulling motor 44 is fixedly installed on the inner side of each sliding seat 38. The motor shafts of the pulling motors 44 are respectively connected to the central axes of the belt drive wheels 42 at the corresponding positions. Each pulling motor 44 is respectively used to drive the corresponding pulling belt 43 to perform forward and reverse movements. The two pulling motors 44 are servo motors that move synchronously. The front magnetic switch and the rear magnetic switch are respectively installed at the corresponding positions on the front and rear sides of each pulling cylinder 39.

[0097] The lifting and lowering movement of the entire pulling and pulling mechanism 14 follows the lifting platform 13. When the lifting platform 13 moves to the specified position, the pulling and pulling component can drive the support plate 22 of the shelf component 10 abutting on its top and the components above it to achieve horizontal movement by controlling the movement of the pulling and pulling mechanism 14. The change in the displacement driven by the entire pulling and pulling mechanism 14 is controlled by the extension and retraction of the corresponding two pulling and pulling cylinders 39, so as to realize the movement of the support plate 22 into place according to the set movement amplitude as needed.

[0098] Preferably, the automatic cargo pickup and transfer device 3 includes a fixed base 46, a first power rotary shaft 47 with a drive unit is installed on the top of the base 46, a first rocker arm 48 is fixedly installed on the top of the first power rotary shaft 47, a second power rotary shaft 49 with a power unit is installed on the free end of the first rocker arm 48, a second rocker arm 50 is fixedly installed on the top of the second power rotary shaft 49, and a floating suction cup group 51 is installed on the working end of the second rocker arm 50, the floating suction cup group 51 is used to grab the packaged vegetables to be sold on the shelf assembly 10 on the top of the lifting platform 13 and transfer them to the cargo output mechanism 4 for outward transportation.

[0099] When the entire automatic cargo pickup and transfer device 3 is in operation, the first power rotary shaft 47 is equipped with a driving unit and a control system to drive the first rocker arm 48 to rotate, thereby driving the second rocker arm 50 and the floating suction cup group 51 thereon to shift, and then the second rocker arm 50 is driven to swing by the driving unit and the control system on the second power rotary shaft 49, and finally the floating suction cup group 51 is driven to move to the top of the designated product to be grasped, and the floating suction cup group 51 is controlled to move downward to achieve vacuum adsorption of the product, thereby achieving picking up, and after picking up, the first rocker arm 48 and the second rocker arm 50 are continued to be controlled to rotate, and finally the floating suction cup group 51 with the product adsorbed is driven to move to the top of the cargo output mechanism 4, and then the suction cup is controlled to unload the force, so that the product falls on the cargo output mechanism 4 and waits for external output.

[0100] Preferably, the floating suction cup group 51 includes a double-rod cylinder 52 fixedly mounted on the working end of the second rocker arm 50, a force sensor 45 is fixedly mounted on the bottom of the piston rod of the double-rod cylinder 52, and a suction cup group 24 is mounted on the bottom of the force sensor 45.

[0101] The double-rod cylinder 52 can drive the entire suction cup group 24 to rise and fall as needed through its own extension and contraction, thereby achieving the pressing force when picking up vegetable products and ensuring the success rate of picking up.

[0102] Preferably, the suction cup group 24 includes a plurality of vacuum suction cups 20 arranged at intervals, each of the vacuum suction cups 20 is connected to an external vacuum generator, and a vacuum pressure gauge 21 for detecting the vacuum pressure of the vacuum suction cup 20 is provided on the second rocker arm 50 .

[0103] The vacuum suction cup 20 is a butterfly suction cup, which can tilt and swing along the circumferential direction to absorb objects, thereby improving the success rate of picking up products.

[0104] Preferably, the number of the vacuum suction cups 20 is 5, one of which is located in the center and is a central suction cup, and the other 4 are evenly arranged around the periphery of the central suction cup, and the central suction cup is connected to the vacuum pressure gauge 21.

[0105] Preferably, each of the vacuum suction cups 20 is individually connected to an external vacuum generator.

[0106] Preferably, a rotation limiting column 36 for limiting the rotation angle of the second rocker arm 50 is fixedly installed on the top of the first rocker arm 48 inside the second power rotary shaft 49 .

[0107] Preferably, the cargo output mechanism 4 is a belt conveyor, the front end of which passes through the vegetable output port 7 on the isolation observation plate 6, and the control part of the self-service settlement control system 1 adopts the existing control system.

[0108] A blocking plate is slidably mounted on the isolation observation plate 6 at the position of the vegetable outlet 7 , and the lifting and lowering is controlled by an opening cylinder fixedly installed on the isolation observation plate 6 , thereby controlling the opening and closing of the vegetable outlet 7 .

[0109] The specific replenishment and shipment process is as follows:

[0110] In the present invention, when replenishing, all kinds of vegetables need to be packed, weighed and priced in advance by the replenishment personnel in packaging boxes or fresh-keeping boxes and plastic wrap, and then stored in the grids of the storage cavity 15 of each shelf 23 by the operator. When replenishing and releasing goods, each shelf assembly 10 needs to be moved to the front side of the lowest position under the mutual coordinated action of the lifting mechanism 16, the lifting platform 13, and the pulling mechanism 14 to be laid flat and wait for replenishment.

[0111] When replenishing, place the shelf assembly 10 process:

[0112] When the customer issues a pick-up command on the operation screen and completes the settlement, the system self-service settlement control system 1 receives a payment completion signal. The control center of the self-service settlement control system 1 first determines that the safety grating is in a no-signal state according to the settings, and then issues a command to start the lifting motor 32. When the lifting platform 13 is moved to the position to be placed through the operation of the lifting mechanism 16, the lifting platform 13 stops; then the two synchronously moving pulling motors 44 are started, driving the backward rotating pulling belt 43. When the pulling belt 43 rotates, it will drive the bottom of the support plate 22 on the shelf assembly 10 in contact with it to achieve relative movement under the action of friction, so that the support plate 22 drives the shelf 23 on it and the packaged vegetables to follow the movement, thereby realizing the backward movement of the shelf assembly 10 at the corresponding position; when the shelf 23 moves backward, the front photoelectric switch 18 will lose the signal because the distance becomes farther and reaches the maximum preset distance, and the blocking signal cannot be found. When the front photoelectric switch 18 loses the signal, it means that the shelf assembly 10 moves backward to the maximum position of the pulling belt 43. At this time, the two synchronously moving pulling cylinders 39 extend backward, and at the same time drive the sliding seat where the pulling belt 43 is located to move backward, so that the pulling belt 43 can continue to drive the shelf assembly 10 to move backward; when the safety grating receives the signal and becomes a lost signal, it means that the shelf assembly 10 is placed in place backward. At this time, the pulling motor 44 stops, and at the same time, the lifting motor 32 starts, and the lifting platform 13 drops 10mm and stops. After the descent, the bottom of the pulling belt 43 can be separated from the bottom of the corresponding shelf assembly 10. The friction force of the mutual contact will not mistakenly drive the shelf assembly 10 to move when the lifting platform 13 moves, and the two pulling cylinders 39 are controlled to retract, thereby completing the replenishment of one shelf assembly 10, and completing the replenishment of each shelf assembly 10 according to the above steps.

[0113] After replenishment is completed, the space where the vegetables are located will be blocked and enter the sales state. Customers can choose and purchase them on the operation screen of the self-service settlement control system 1 according to their needs. After purchasing the required vegetables and paying, the control center of the self-service settlement control system 1 will issue instructions to control the automatic vegetable inventory and picking device 2 to perform the picking steps.

[0114] The process of taking the shelf assembly 10 is as follows:

[0115] After the customer selects the vegetables he needs and pays, the control center of the self-service checkout control system 1 will issue an instruction. When the front magnetic switch has a signal, the lifting motor 32 will start, driving the lifting platform 13 to move to 10mm below the height of the layer to be picked up and stop. At this time, the lifting platform 13 and the pulling belt 43 thereon can not contact the bottom of the corresponding shelf assembly 10 during movement, and then the two pulling cylinders 39 extend backward. When the rear magnetic switch has a signal, it means that the movement is in place. The lifting motor 32 is started, driving the lifting platform 13 to rise 10mm and then stop. At this time, the bottom of the belt is rubbed against the bottom of the support plate 22 of the shelf assembly 10, and the two pulling motors 44 start to reverse, driving the pulling belt 43 and the shelf assembly 10 to be taken out to move forward. When the rear photoelectric switch 19 receives a signal, the two pulling cylinders 39 retract. When the rear photoelectric switch 19 loses the signal, the two pulling motors 44 stop.

[0116] At this time, it is judged that the front magnetic switch has a signal, the lifting motor 32 is started, and the lifting platform 13 is driven to move up and down. When the proximity switch has a signal, the lifting motor 32 stops. The lifting platform 13 stops at the display height.

[0117] After the shipment is completed, the automatic pickup and transfer device 3 is controlled to move to perform the vegetable picking step. The vacuum suction cup 20 can be driven by the first rocker arm 48, the second rocker arm 50 and the double-rod cylinder 52 to grab the packaged vegetables in the grid on the pallet 22 after shipment.

[0118] The first rocker arm 48 can move 360 ​​degrees around the base 46 , and the existing power unit and control system are installed in the internal space of the base 46 .

[0119] Exercise Description:

[0120] The control system in the base 46 sends out instructions to control the first rocker arm 48 and the second rocker arm 50 to rotate at a certain angle, so that the floating suction cup group 51 reaches the specified position of the annular picking area, and then controls the piston rod of the double-rod cylinder 52 to extend, and at the same time, vacuum suction picking is achieved through each vacuum suction cup 20.

[0121] The suction cup group 24 designed in the present invention can pick up commodities of any shape, and is composed of a double-rod cylinder 52, a force sensor 45, a floating connecting rod, a butterfly suction cup, a vacuum pressure gauge 21 and other components.

[0122] Exercise Description:

[0123] Under normal conditions, the force sensor 45 displays a value n1, which is the weight of the suction cup assembly 24 itself.

[0124] When the double-rod cylinder 52 is extended, the suction cup group 24 moves downward and contacts the object, and the force sensor 45 displays a significant change in the value n1, the double-rod cylinder 52 stops extending, and the suction cup group 24 automatically connects to the vacuum air circuit. When the vacuum pressure gauge 21 reaches the specified vacuum degree, the cylinder piston rod of the double-rod cylinder 52 begins to retract. At this time, the force sensor 45 displays a value n2, which is the weight of the suction cup group 24 and the object. If the displayed value is still n1, or the value displayed by the vacuum pressure gauge 21 is significantly lower than the specified value, the system believes that it is not sucked, and the existing control system will control the device to repeat the starting action and suck again.

[0125] After grabbing, the goods are placed on the conveyor belt of the goods output mechanism 4 on the window, and then transported to the pick-up port for the customer to take away.

[0126] When customers purchase, they do not touch the vegetables and will not bring bacteria to the vegetables. It is clean, hygienic, convenient and fast.

[0127] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention. For those skilled in the art, any replacement, improvement or change made to the implementation mode of the present invention falls within the protection scope of the present invention.

[0128] The matters not described in detail in the present invention are all known technologies to those skilled in the art.

Claims

1. A self-service vegetable vending machine, comprising a self-service settlement control system, wherein the self-service settlement control system is used to display relevant information of the vegetables currently being sold, and is characterized in that: It also includes an automatic vegetable storage and picking device, an automatic picking and transferring device, and a cargo output mechanism, and the actions of the automatic vegetable storage and picking device, the automatic picking and transferring device, and the cargo output mechanism are all controlled by a self-service settlement control system; The automatic pickup and transfer device is arranged downstream of the vegetable automatic storage and pickup device, the goods output mechanism is arranged downstream of the automatic pickup and transfer device, and the self-service settlement control system is arranged downstream of the goods output mechanism; The automatic vegetable storage and picking device is used to realize the unified arrangement and storage of various types of vegetables and to move them to the positions as needed. The automatic picking and transferring device is used to realize the automatic picking of vegetables that customers need to buy and transfer them to the goods output mechanism. The goods output mechanism outputs the vegetables on it to the customer's picking position through its own movement. The automatic vegetable storage and retrieval device and the vegetables stored thereon are isolated from customers and allow customers to observe the various vegetables to be sold in a non-contact manner; The automatic vegetable storage and retrieval device comprises a fixed storage cabinet, in which a plurality of shelf assemblies for placing vegetables are arranged from top to bottom; the shelf assembly comprises a support plate; A lifting platform is provided below the lowest shelf assembly, and a pulling mechanism is installed on the lifting platform, and the pulling mechanism is used to drive the shelf assembly at the corresponding position to realize horizontal movement along the width direction of the storage cabinet; Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end has hook portion, and a bar passes position between the end of two swing arms and the hook portion. The upper belt of the pulling belt extends upward from the top opening and is higher than the top of the lifting platform. The tops of the two pulling belts are respectively used to abut against the bottom of the support plate at the corresponding position above them and drive the support plate and the layer frame on its top to move in the front and rear directions through transmission friction. A pulling motor is fixedly installed on the inner side of each sliding seat. The motor shafts of the pulling motors are respectively connected to the central axis of the belt drive wheel at the corresponding position. Each pulling motor is respectively used to drive the corresponding pulling belt to perform forward and reverse movements. The two pulling motors are servo motors that move synchronously. Front magnetic switches and rear magnetic switches are respectively installed at corresponding positions on the front and rear sides of each pulling cylinder.

2. The self-service vegetable vending machine according to claim 1, characterized in that: It also includes a self-service vending room, wherein the automatic vegetable inventory and retrieval device, the automatic retrieval and transfer device, the cargo output mechanism, and the self-service settlement control system are all installed inside the self-service vending room, and an isolation observation board is installed at the position of the self-service settlement control system, and the isolation observation board is used to separate the self-service settlement control system from the automatic vegetable inventory and retrieval device and the automatic retrieval and transfer device, and a vegetable output port is arranged at the position of the isolation observation board corresponding to the cargo output mechanism, and the end of the cargo output mechanism extends out of the vegetable output port and extends to the customer pickup position.

3. The self-service vegetable vending machine according to claim 2, characterized in that: The bottom of the inner and outer sides of each shelf assembly are respectively slidably engaged with the top of a supporting guide assembly at its corresponding position, and each supporting guide assembly is fixedly arranged relative to the storage cabinet. A fixed frame is fixedly installed on the front periphery of the storage cabinet, and the lifting platform is driven by a lifting mechanism installed in the fixed frame to achieve lifting and lowering along the height direction of the storage cabinet.

4. The self-service vegetable vending machine according to claim 3, characterized in that: The lifting mechanism includes two lifting components symmetrically fixedly installed on the two opposite inner walls of the fixed frame, and the two lifting components move synchronously. The upper and lower parts of the two lifting components are respectively connected by a horizontally arranged upper support transverse axis and a lower support transverse axis. The two ends of the upper support transverse axis and the lower support transverse axis are respectively movably inserted into the axial holes of the two opposite inner walls of the fixed frame. The lower support transverse axis is driven by a lifting motor and a transmission component. The two lifting components are respectively installed in cooperation with the two sides of the rear end of the lifting platform, and the two lifting components drive the lifting platform to rise and fall through synchronous movement.

5. The self-service vegetable vending machine according to claim 4, characterized in that: The lifting assembly includes an upper toothed pulley and a lower toothed pulley. The upper toothed pulley is fixedly mounted on the outer side wall of the upper supporting transverse axis, and the lower toothed pulley is fixedly mounted on the outer side wall of the lower supporting transverse axis. The upper toothed pulley and the lower toothed pulley are transmitted by a toothed lifting belt. The front belt of the toothed lifting belt is fixedly connected to the rear end side wall of the lifting platform at the corresponding position.

6. The self-service vegetable vending machine according to claim 5, characterized in that: The automatic cargo pickup and transfer device includes a fixed base, a first power rotary shaft with a drive unit is installed on the top of the base, a first rocker arm is fixedly installed on the top of the first power rotary shaft, a second power rotary shaft with a power unit is installed on the free end of the first rocker arm, a second rocker arm is fixedly installed on the top of the second power rotary shaft, and a floating suction cup group is installed on the working end of the second rocker arm, the floating suction cup group is used to grab the packaged vegetables to be sold on the shelf assembly on the top of the lifting platform and transfer them to the cargo output mechanism for outward transportation.

7. The self-service vegetable vending machine according to claim 6, characterized in that: The floating suction cup group includes a double-rod cylinder fixedly mounted on the working end of the second rocker arm, a force sensor is fixedly mounted on the bottom of the piston rod of the double-rod cylinder, and a suction cup group is mounted on the bottom of the force sensor.

8. The self-service vegetable vending machine according to claim 7, characterized in that: The suction cup group includes a plurality of vacuum suction cups arranged at intervals, each of the vacuum suction cups is connected to an external vacuum generator, and a vacuum pressure gauge for detecting the vacuum pressure of the vacuum suction cups is arranged on the second rocker arm.

9. The self-service vegetable vending machine according to claim 8, characterized in that: The cargo output mechanism is a belt conveyor, and the front end of the belt conveyor passes through the vegetable output port on the isolation observation plate.

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