A three-coordinate manipulator ejection vending machine

Abstract

The present invention discloses a three-coordinate manipulator ejection vending machine, wherein the cabinet body has a first accommodating chamber and a second accommodating chamber with an open front end, and the first accommodating chamber and the second accommodating chamber are arranged side by side; multiple rows of inclined shelves are arranged from top to bottom in the first accommodating chamber, and the lower end of the three-coordinate lifting transmission assembly is installed at the bottom of the first accommodating chamber, and the upper end of the three-coordinate lifting transmission assembly is installed with a precise positioning mechanism, and the precise positioning mechanism is provided with a flexible mechanical claw assembly; a delivery platform is provided in the second accommodating chamber, and the outer side surface of the cabinet body located outside the second accommodating chamber is provided with an industrial control all-in-one touch screen and an automatic door in sequence from top to bottom, and the automatic door is arranged opposite the delivery platform. The technical effects are as follows: there will be no problem of damage to items falling from heights, no problem of damage to items due to loose clamping, loose adsorption, or excessive clamping force, no monitoring blind spots, and the friction and electrostatic adsorption between items and aisles will be effectively reduced. There will be no significant increase in costs when adding aisles.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned vending of boxed items, and in particular to a three-coordinate manipulator ejection vending machine. Background Art

[0002] The common unmanned vending machines now have the following problems:

[0003] 1. Most manipulators are vacuum suction cup type, which has the disadvantage of adsorption force. They cannot adapt well to objects of different weights, and some objects may fall after adsorption. Direct clamping type cannot adapt to the clamping force of boxes of different widths and weights, causing irreversible damage to the objects.

[0004] 2. One shipping mechanism per aisle, free-drop mode; the disadvantage is that the cost increases with the number of aisles and there is a risk of items breaking when falling from a high altitude.

[0005] 3. One shipping mechanism for each aisle, coordinating with the XY axis shipping platform for shipping; this solves the problem of fragmentation, but does not solve the problem of high costs due to multiple aisles.

[0006] 4. Objects placed on the tilted aisle for a long time will stick to the aisle, causing the front box to fall and the rear box to remain motionless.

[0007] 5. The camera is in a fixed position and has a limited shooting area, so it cannot accurately observe the pickup process.

[0008] 6. The delivery of a single mechanical claw can easily cause the center of gravity of the medicine box to shift, resulting in the problem of not being able to ship after one side is lifted and then reset. Summary of the Invention

[0009] To this end, the present invention provides a three-coordinate manipulator ejection vending machine to solve the following problems in the prior art:

[0010] 1. Solve the problem of unsold products caused by uneven suction force of suction cups

[0011] 2. Solve the problem of excessive support force and damage to items.

[0012] 3. Solve the problem of cost increasing with the delivery channel.

[0013] 4. Solve the problem of items being damaged by falling from heights.

[0014] 5. Reduce the problem of static adsorption between the medicine box and the aisle by stamping a boss at the bottom of the aisle.

[0015] 6. By fixing the camera at the end of the robot and moving it with the robot, the entire picking process can be accurately observed, thereby increasing safety.

[0016] 7. Flexible mechanical claws are suitable for picking up items from aisles of different widths.

[0017] In order to achieve the above object, the present invention provides the following technical solutions:

[0018] According to a first aspect of the present invention, a three-coordinate manipulator ejection vending machine includes a three-coordinate lifting transmission assembly, a precise positioning mechanism, a flexible mechanical claw assembly, a cabinet, a shelf, an industrial control all-in-one touch screen, a shipping platform, and an automatic door;

[0019] The cabinet body comprises a first accommodating cavity and a second accommodating cavity with a front end open, wherein the first accommodating cavity and the second accommodating cavity are arranged side by side;

[0020] Multiple rows of inclined shelves are arranged from top to bottom in the first accommodating cavity, the lower end of the three-coordinate lifting transmission assembly is installed at the bottom of the first accommodating cavity, the upper end of the three-coordinate lifting transmission assembly is installed with the precise positioning mechanism, and the flexible mechanical claw assembly is provided on the precise positioning mechanism;

[0021] The shipping platform is provided in the second accommodating cavity, and the outer side surface of the cabinet outside the second accommodating cavity is provided with the industrial control all-in-one touch screen and the automatic door in sequence from top to bottom, and the automatic door is arranged opposite to the shipping platform.

[0022] Furthermore, the three-coordinate lifting transmission assembly includes a base, an X-axis slide rail, an X-axis linear reciprocating drive assembly, a Y-axis slide rail, a Y-axis linear reciprocating drive assembly, a precise positioning mechanism, a lifting plate, a camera body, and a drop hopper;

[0023] The X-axis slide rail is horizontally arranged at the bottom of the first accommodating cavity, the base is slidably connected to the X-axis slide rail, and the X-axis linear reciprocating drive assembly is used to drive the base to reciprocate along the X-axis slide rail;

[0024] The Y-axis slide rail is arranged in a vertical direction, the lower end of the Y-axis slide rail is fixed to the base, the lifting plate is slidably connected to the Y-axis slide rail, the precise positioning mechanism is installed on the side of the lifting plate, and the Y-axis linear reciprocating drive assembly is used to drive the lifting plate to reciprocate along the Y-axis slide rail;

[0025] The camera body is installed on the side of the lifting plate, the dropping hopper is installed on the precise positioning mechanism, and the camera body is located above the dropping hopper.

[0026] Furthermore, the three-coordinate lifting transmission assembly further includes a camera bracket, the lower end of which is fixed to the side of the lifting plate, the lower end of which is located beside the drop hopper, and the upper end of which is mounted with the camera body;

[0027] The camera bracket is arranged in a vertical direction, and a plurality of mounting holes are opened along the length direction of the camera bracket, and the camera body is installed in one of the mounting holes;

[0028] The camera bracket is a U-shaped integrally formed structure formed by bending sheet metal.

[0029] Furthermore, the X-axis linear reciprocating drive assembly includes an X-axis drive motor, an X-axis motor gear, and an X-axis rack; the housing of the X-axis drive motor is mounted on the base, the output shaft of the X-axis drive motor passes through the base and is connected to the X-axis motor gear, the X-axis rack is arranged parallel to the side of the X-axis slide rail, and the X-axis motor gear is meshed with the X-axis rack for transmission;

[0030] The X-axis linear reciprocating drive assembly further includes an X-axis slider, which is mounted on the lower surface of the base and is slidably connected to the X-axis slide rail;

[0031] The Y-axis linear reciprocating drive assembly includes a Y-axis drive motor, a Y-axis motor gear, and a Y-axis rack; the housing of the Y-axis drive motor is mounted on the side of the lifting plate, the Y-axis drive motor is located below the drop hopper, the output shaft of the Y-axis drive motor passes through the lifting plate and is connected to the Y-axis motor gear, the Y-axis rack is arranged parallel to the side of the Y-axis slide rail, and the Y-axis motor gear is meshed with the Y-axis rack for transmission;

[0032] The Y-axis linear reciprocating drive assembly further includes a Y-axis slider, which is mounted on the rear surface of the lifting plate and is slidably connected to the Y-axis slide rail.

[0033] Furthermore, the precise positioning mechanism includes a Z-axis motor, a driving connecting rod, a connecting rod rotating shaft, a guide groove, a motor mounting plate, a Z-axis slide rail, a Z-axis slider and a shipping mechanism fixing platform;

[0034] The shipping mechanism fixing platform is installed on the side of the lifting plate, the shipping mechanism fixing platform is provided with the guide groove, the lower surface of the Z-axis slide rail is fixed to the upper surface of the shipping mechanism fixing platform, and the bottom surface of the motor mounting plate is fixed with the Z-axis slider; the Z-axis slider is slidably arranged on the Z-axis slide rail, the Z-axis motor is fixed to the motor mounting plate, the motor mounting plate is provided with the drop hopper, and the drop hopper is installed with the flexible mechanical claw assembly;

[0035] The rotating shaft of the Z-axis motor passes through the motor mounting plate and is connected to one end of the driving connecting rod. The other end of the driving connecting rod is connected to the connecting rod rotating shaft, and the connecting rod rotating shaft is rotatably arranged in the guide groove.

[0036] The guide groove is a strip-shaped groove, and an angle is set between the extending direction of the guide groove and the reciprocating direction of the motor mounting plate.

[0037] Furthermore, the flexible mechanical claw assembly includes a mechanical claw fixing plate, a first side mechanical claw, a middle mechanical claw, a second side mechanical claw and a mechanical claw rotating shaft;

[0038] The mechanical claw rotating shaft is transversely arranged at the edge of the mechanical claw fixing plate; the first side mechanical claw, the middle mechanical claw, and the second side mechanical claw are sequentially passed through the mechanical claw rotating shaft, the middle mechanical claw is located in the middle, and the first side mechanical claw and the second side mechanical claw are respectively located on both sides of the middle mechanical claw;

[0039] The root of the middle mechanical claw is fixed to the mechanical claw fixing plate, the root of the first side mechanical claw and the root of the second side mechanical claw are elastically connected to the mechanical claw fixing plate, and the upper limit position of the first side mechanical claw and the upper limit position of the second side mechanical claw are located in the same plane as the position of the middle mechanical claw;

[0040] The mechanical claw fixing plate is installed in the dropping hopper.

[0041] Furthermore, the flexible mechanical claw assembly also includes a reset torsion spring, and the reset torsion spring is provided at the connection between the first side mechanical claw and the mechanical claw shaft; the reset torsion spring is provided at the connection between the second side mechanical claw and the mechanical claw shaft.

[0042] Furthermore, the flexible mechanical claw assembly further includes a first side roller, a second side roller and a middle roller;

[0043] The front end of the first side mechanical claw is rotatably connected to the first side roller;

[0044] The front end of the second-side mechanical claw is rotatably connected to the second-side roller;

[0045] The front end of the intermediate mechanical claw is rotatably connected to the intermediate roller.

[0046] Furthermore, the first side mechanical claw, the middle mechanical claw and the second side mechanical claw are all one-piece molded structures formed by bending sheet metal; the lengths of the first side mechanical claw, the middle mechanical claw and the second side mechanical claw are equal; the widths of the first side mechanical claw, the middle mechanical claw and the second side mechanical claw are equal; the spacing between the first side mechanical claw and the middle mechanical claw and the spacing between the second side mechanical claw and the middle mechanical claw are equal.

[0047] Furthermore, it also includes a wireless transmission module, which is installed on the top of the cabinet and is electrically connected to the controller in the touch screen of the industrial control all-in-one machine.

[0048] The present invention has the following advantages: it eliminates the problem of items being damaged by falling from heights, eliminates the problem of items being damaged by loose clamping, loose adsorption, or excessive clamping force, eliminates blind spots in monitoring, effectively reduces friction and electrostatic adsorption between items and the aisle, and does not significantly increase costs by adding aisles. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is an overall structural diagram of a three-coordinate robot ejection vending machine provided in some embodiments of the present invention.

[0050] Figure 2 A structural diagram of a three-coordinate lifting transmission assembly of a three-coordinate robot ejection vending machine provided in some embodiments of the present invention.

[0051] Figure 3 This is a structural diagram of a precise positioning mechanism for a three-coordinate manipulator ejection vending machine provided in some embodiments of the present invention.

[0052] Figure 4 A schematic diagram of the precise positioning mechanism of a three-coordinate manipulator ejection vending machine provided in some embodiments of the present invention.

[0053] Figure 5 A structural diagram of a flexible mechanical claw assembly of a three-coordinate robot ejection vending machine provided in some embodiments of the present invention.

[0054] Figure 6 A schematic diagram of a flexible mechanical claw assembly for a three-coordinate robot ejection vending machine according to some embodiments of the present invention.

[0055] Figure 7 A schematic diagram of the working state of three claws of a flexible mechanical claw assembly of a three-coordinate manipulator ejection vending machine provided in some embodiments of the present invention.

[0056] Figure 8 A schematic diagram of the working state of two claws of a flexible mechanical claw assembly of a three-coordinate manipulator ejection vending machine provided in some embodiments of the present invention.

[0057] Figure 9 The present invention provides a schematic diagram of the working state of a flexible mechanical claw assembly of a three-coordinate robot ejection vending machine according to some embodiments of the present invention.

[0058] Figure 10 A schematic diagram of the working process of a flexible mechanical claw assembly of a three-coordinate robot ejection vending machine provided in some embodiments of the present invention.

[0059] Figure 11 Schematic diagram of the first step of the delivery principle of a three-coordinate robot ejection vending machine provided in some embodiments of the present invention.

[0060] Figure 12 This is a schematic diagram of the second step of the delivery principle of a three-coordinate robot ejection vending machine provided in some embodiments of the present invention.

[0061] Figure 13 This is a schematic diagram of the third step of the delivery principle of a three-coordinate robot ejection vending machine provided in some embodiments of the present invention.

[0062] Figure 14 This is a schematic diagram of the fourth step of the shipping principle of a three-coordinate robot ejection vending machine provided in some embodiments of the present invention.

[0063] Figure 15 This is a schematic diagram of the fifth step of the delivery principle of a three-coordinate robot ejection vending machine provided in some embodiments of the present invention.

[0064] In the figure: 1. Three-coordinate lifting transmission assembly, 2. Precision positioning mechanism, 3. Flexible mechanical claw assembly, 4. Cabinet, 5. Shelf, 6. Industrial control all-in-one touch screen, 7. Shipping platform, 8. Automatic door;

[0065] 101. Base, 102. X-axis drive motor, 103. X-axis motor gear, 104. X-axis rack, 105. X-axis slide rail, 106. X-axis slider, 107. Y-axis drive motor, 108. Y-axis rack, 109. Y-axis slide rail, 111. Z-axis slide rail, 112. Z-axis slider, 113. Drop hopper, 114. Camera body, 115. Camera bracket;

[0066] 201, Z-axis motor, 202, driving connecting rod, 203, connecting rod shaft, 204, guide groove, 205, motor mounting plate, 206, Z-axis slide rail, 207, shipping mechanism fixing platform;

[0067] 301. Mechanical claw fixing plate, 302. First side mechanical claw, 303. Middle mechanical claw, 304. Second side mechanical claw, 305. First side roller, 306. Middle roller, 307. Second side roller, 308. Reset torsion spring, 309. Mechanical claw rotating shaft. DETAILED DESCRIPTION

[0068] The following describes the implementation of the present invention using specific embodiments. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. Obviously, the embodiments described are only a portion of the present invention, not all of it. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0069] Example 1

[0070] like Figures 1 to 15 As shown, a three-coordinate manipulator ejection vending machine in an embodiment of the first aspect of the present invention includes a three-coordinate lifting transmission component 1, a precise positioning mechanism 2, a flexible mechanical claw component 3, a cabinet 4, a shelf 5, an industrial control all-in-one touch screen 6, a shipping platform 7 and an automatic door 8; the cabinet 4 has a first accommodating cavity and a second accommodating cavity with an open front end, and the first accommodating cavity and the second accommodating cavity are arranged side by side; multiple rows of inclined shelves 5 are arranged from top to bottom in the first accommodating cavity, the lower end of the three-coordinate lifting transmission component 1 is installed at the bottom of the first accommodating cavity, and the upper end of the three-coordinate lifting transmission component 1 is installed with a precise positioning mechanism 2, and the precise positioning mechanism 2 is provided with a flexible mechanical claw component 3; a shipping platform 7 is provided in the second accommodating cavity, and the outer side surface of the cabinet 4 located outside the second accommodating cavity is provided with an industrial control all-in-one touch screen 6 and an automatic door 8 in sequence from top to bottom, and the automatic door 8 is arranged opposite to the shipping platform 7.

[0071] The technical effects achieved by the above embodiments are: no damage to items from falling from heights, no damage to items from loose clamping, loose adsorption, or excessive clamping force, no blind spots in monitoring, and effective reduction of friction and electrostatic adsorption between items and the aisles. Adding aisles does not significantly increase costs.

[0072] Example 2

[0073] like Figure 1 and Figure 2As shown, a three-coordinate manipulator ejection vending machine includes all the contents of Example 1. In addition, the three-coordinate lifting transmission assembly 1 includes a base 101, an X-axis slide 105, an X-axis linear reciprocating drive assembly, a Y-axis slide 109, a Y-axis linear reciprocating drive assembly, a precise positioning mechanism 2, a lifting plate, a camera body 114 and a drop hopper 113; the X-axis slide 105 is arranged at the bottom of the first accommodating cavity in the horizontal direction, the base 101 is slidably connected to the X-axis slide 105, and the X-axis linear reciprocating drive assembly is used to drive The movable base 101 moves back and forth along the X-axis slide rail 105; the Y-axis slide rail 109 is arranged in the vertical direction, the lower end of the Y-axis slide rail 109 is fixed on the base 101, the lifting plate is slidably connected to the Y-axis slide rail 109, the precise positioning mechanism 2 is installed on the side of the lifting plate, and the Y-axis linear reciprocating drive assembly is used to drive the lifting plate to move back and forth along the Y-axis slide rail 109; the camera body 114 is installed on the side of the lifting plate, the drop hopper 113 is installed on the precise positioning mechanism 2, and the camera body 114 is located above the drop hopper 113.

[0074] Optionally, the three-coordinate lifting transmission assembly 1 also includes a camera bracket 115, the lower end of the camera bracket 115 is fixed to the side of the lifting plate, the lower end of the camera bracket 115 is located next to the drop hopper 113, and the upper end of the camera bracket 115 is installed with a camera body 114; the camera bracket 115 is arranged in a vertical direction, and the camera bracket 115 has a plurality of mounting holes along its length direction, and the camera body 114 is installed in one of the mounting holes; the camera bracket 115 is a U-shaped one-piece molded structure of sheet metal bending.

[0075] Optionally, the X-axis linear reciprocating drive assembly includes an X-axis drive motor 102, an X-axis motor gear 103 and an X-axis rack 104; the housing of the X-axis drive motor 102 is mounted on the base 101, the output shaft of the X-axis drive motor 102 passes through the base 101 and is connected to the X-axis motor gear 103, the X-axis rack 104 is arranged parallel to the side of the X-axis slide 105, and the X-axis motor gear 103 and the X-axis rack 104 are meshed for transmission; the X-axis linear reciprocating drive assembly also includes an X-axis slider 106, the X-axis slider 106 is mounted on the lower surface of the base 101, and the X-axis slider 106 is slidably connected to the X-axis slide 10 5; the Y-axis linear reciprocating drive assembly includes a Y-axis drive motor 107, a Y-axis motor gear and a Y-axis rack 108; the housing of the Y-axis drive motor 107 is installed on the side of the lifting plate, the Y-axis drive motor 107 is located below the hopper 113, the output shaft of the Y-axis drive motor 107 passes through the lifting plate and is connected to the Y-axis motor gear, the Y-axis rack 108 is arranged parallel to the side of the Y-axis slide 109, and the Y-axis motor gear and the Y-axis rack 108 are engaged for transmission; the Y-axis linear reciprocating drive assembly also includes a Y-axis slider, the Y-axis slider is installed on the rear surface of the lifting plate, and the Y-axis slider is slidably connected to the Y-axis slide 109.

[0076] During operation, the camera body 114 will be fixed on the camera fixing bracket and move along the X-axis and Y-axis directions with the shipping mechanism fixing platform 207 during the entire process, always shooting the picking process.

[0077] The technical effects achieved by the above embodiments are as follows: by using a three-coordinate system mobile platform, the problem of the monitoring area being fixed and immovable, the field of view being incomplete, and the inability to observe the entire picking process is solved; by fixing the camera at the end of the manipulator and moving with the manipulator, the entire picking process can be accurately observed, thereby increasing safety; this device will not have blind spots in monitoring, thereby ensuring the accuracy of the items; through the above settings, it can ensure the stability of the linear reciprocating movement of the base 101, as well as the stability of the linear reciprocating movement of the shipping mechanism fixed platform 207, and can accurately realize the follow-up shooting of the goods by the camera body 114; by setting the Z-axis slide rail 111 and the Z-axis slider 112, it is convenient to adjust the installation position of the drop hopper 113.

[0078] In the present application, the X-axis is arranged along the horizontal transverse direction, the Y-axis is arranged along the horizontal longitudinal direction, and the Z-axis is arranged along the vertical direction.

[0079] Example 3

[0080] like Figure 3 and Figure 4 As shown, a three-coordinate manipulator ejection vending machine includes all the contents of Example 2. In addition, the precise positioning mechanism 2 includes a Z-axis motor 201, a driving connecting rod 202, a connecting rod rotating shaft 203, a guide groove 204, a motor mounting plate 205, a Z-axis slide rail 206, a Z-axis slider 112 and a delivery mechanism fixed platform 207; the delivery mechanism fixed platform 207 is installed on the side of the lifting plate, and a guide groove 204 is opened on the delivery mechanism fixed platform 207. The lower surface of the Z-axis slide rail 206 is fixed to the upper surface of the delivery mechanism fixed platform 207, and the bottom surface of the motor mounting plate 205 is fixed with the Z-axis slider 112. ; The Z-axis slider 112 is slidably set on the Z-axis slide rail 206, the Z-axis motor 201 is fixed on the motor mounting plate 205, and a drop hopper 113 is set on the motor mounting plate 205, and the drop hopper 113 is installed with a flexible mechanical claw assembly 3; the rotating shaft of the Z-axis motor 201 passes through the motor mounting plate 205 and is connected to one end of the driving connecting rod 202, and the other end of the driving connecting rod 202 is connected to the connecting rod rotating shaft 203, and the connecting rod rotating shaft 203 is rollingly set in the guide groove 204; the guide groove 204 is a strip groove, and an angle is set between the extension direction of the guide groove 204 and the reciprocating direction of the motor mounting plate 205.

[0081] The technical effects achieved by the above embodiment are: adding a track limiter on the basis of the photoelectric switch; making the length of the mechanical claw extended equal each time; ensuring the extension length of the mechanical claw each time; maintaining the stability of the equipment; and by setting the guide groove 204, effectively ensuring that the swing amplitude of the drive connecting rod 202 is limited to the specified value.

[0082] In addition, the driving connecting rod 202 is detachably connected to the output shaft of the Z-axis motor 201 by bolts; a circular notch hole is opened in the driving connecting rod 202, and then the circular notch hole is sleeved on the output shaft of the Z-axis motor 201 and then locked with bolts; the technical effect achieved by the above embodiment is: through the detachable connection, the driving connecting rod 202 is facilitated to be quickly replaced.

[0083] Example 4

[0084] like Figures 5 to 10 As shown, a three-coordinate manipulator ejection vending machine includes all the contents of Example 3. In addition, the flexible mechanical claw assembly 3 includes a mechanical claw fixing plate 301, a first side mechanical claw 302, an intermediate mechanical claw 303, a second side mechanical claw 304 and a mechanical claw rotating shaft 309; the mechanical claw rotating shaft 309 is horizontally arranged at the edge of the mechanical claw fixing plate 301; the mechanical claw rotating shaft 309 is sequentially penetrated by the first side mechanical claw 302, the intermediate mechanical claw 303 and the second side mechanical claw 304, the intermediate mechanical claw 303 is located in the middle, and the first side mechanical claw 302 and the second side mechanical claw 304 are respectively located on both sides of the intermediate mechanical claw 303; the intermediate mechanical claw 303 The root is fixed to the mechanical claw fixing plate 301. The root of the first side mechanical claw 302 and the root of the second side mechanical claw 304 are both elastically connected to the mechanical claw fixing plate 301. The upper limit positions of the first side mechanical claw 302 and the upper limit positions of the second side mechanical claw 304 are located in the same plane as the position of the middle mechanical claw 303. The mechanical claw fixing plate 301 is installed in the drop hopper 113. The use of a flexible mechanical claw top method solves the problems of excessive and uneven clamping force of the manipulator and uneven suction of the suction cup type, which lead to unsold goods and damage. There will be no problems such as loose clamping, loose suction, excessive clamping force and damage to items, and no problem of items being unavailable due to offset center of gravity. The use of multiple flexible narrow mechanical claws enables it to adapt to multiple aisles of different widths.

[0085] Optionally, the flexible mechanical claw assembly 3 also includes a reset torsion spring 308, and a reset torsion spring 308 is provided at the connection between the first side mechanical claw 302 and the mechanical claw shaft 309; a reset torsion spring 308 is provided at the connection between the second side mechanical claw 304 and the mechanical claw shaft 309; by providing the reset torsion spring 308, the effective reset of the first side mechanical claw 302 and the second side mechanical claw 304 is achieved respectively.

[0086] Optionally, the flexible mechanical claw assembly 3 also includes a first side roller 305, a second side roller 307 and an intermediate roller 306; the front end of the first side mechanical claw 302 is rotatably connected to the first side roller 305; the front end of the second side mechanical claw 304 is rotatably connected to the second side roller 307; the front end of the intermediate mechanical claw 303 is rotatably connected to the intermediate roller 306; by setting the first side roller 305, the second side roller 307 and the intermediate roller 6, the smoothness of transporting goods at the front end of each mechanical claw is significantly improved.

[0087] Optionally, the first side mechanical claw 302, the middle mechanical claw 303 and the second side mechanical claw 304 are all one-piece molded structures formed by bending sheet metal; the lengths of the first side mechanical claw 302, the middle mechanical claw 303 and the second side mechanical claw 304 are equal; the widths of the first side mechanical claw 302, the middle mechanical claw 303 and the second side mechanical claw 304 are equal; the spacing between the first side mechanical claw 302 and the middle mechanical claw 303 and the spacing between the second side mechanical claw 304 and the middle mechanical claw 303 are equal; through the above settings, the processing cost is significantly reduced, the structure is simple, and it helps to improve the standardization of the device.

[0088] Example 5

[0089] like Figures 1 to 15 As shown, a three-coordinate manipulator ejection vending machine includes all the contents of Example 4. In addition, it also includes a wireless transmission module. The wireless transmission module is installed on the top of the cabinet 4 and is electrically connected to the controller in the industrial control all-in-one touch screen 6.

[0090] The vending machine described in this application primarily consists of a cabinet, shelves, an industrial control all-in-one touch screen, an XYZ-axis lifting mechanism, a delivery platform, and an automatic door. This device relies on gravity to arrange items in the aisle, ensuring that any items that fall into the aisle are replaced by the next item. Initially, the boxed items are placed on the shelf at a 30° angle to the floor. The robot arm, using a three-coordinate motion platform, then moves forward to its initial position along the +z axis, bringing the robotic gripper into its operating position. The y axis then moves upward by 1 cm, raising the boxed items above the height of the aisle's front baffle. The middle robotic gripper then moves upward through the aisle's gap, while the remaining two grippers are blocked by the gap's insufficient width. Ultimately, only the middle gripper contacts the boxed items, causing them to rise and slide into the hopper. The motion platform then moves 2 cm in the -y direction. The z-axis motor drives a connecting rod to move the pickup platform, causing the gripper to move to its -z position, completing the pickup.

[0091] This device utilizes a pulley system on top of a flexible mechanical gripper, resolving issues such as excessive and uneven gripping force, and uneven suction cup adhesion, which can lead to product failure and damage. The use of a three-coordinate mobile platform addresses issues such as fixed, immovable monitoring areas and damage from dropped items. The entire pickup mechanism module allows for multiple aisles without increasing actuator costs. Stamped bosses on the bottom of the aisles address issues such as static adsorption and preventing product dropouts.

Claims

1. A three-coordinate manipulator ejection vending machine, characterized in that: It includes a three-coordinate lifting transmission component (1), a precise positioning mechanism (2), a flexible mechanical claw component (3), a cabinet (4), a shelf (5), an industrial control all-in-one touch screen (6), a shipping platform (7) and an automatic door (8); The cabinet (4) has a first accommodating cavity and a second accommodating cavity with an open front end, and the first accommodating cavity and the second accommodating cavity are arranged side by side; Multiple rows of inclined shelves (5) are arranged from top to bottom in the first accommodating cavity, the lower end of the three-coordinate lifting transmission assembly (1) is installed at the bottom of the first accommodating cavity, the upper end of the three-coordinate lifting transmission assembly (1) is installed with the precise positioning mechanism (2), and the flexible mechanical claw assembly (3) is arranged on the precise positioning mechanism (2); The delivery platform (7) is provided in the second accommodating cavity, and the outer side surface of the cabinet (4) located outside the second accommodating cavity is provided with the industrial control all-in-one touch screen (6) and the automatic door (8) in order from top to bottom, and the automatic door (8) is provided opposite to the delivery platform (7); The flexible mechanical claw assembly (3) includes a mechanical claw fixing plate (301), a first side mechanical claw (302), an intermediate mechanical claw (303), a second side mechanical claw (304) and a mechanical claw rotating shaft (309); the mechanical claw rotating shaft (309) is transversely arranged at the edge of the mechanical claw fixing plate (301); the first side mechanical claw (302), the intermediate mechanical claw (303) and the second side mechanical claw (304) are sequentially passed through the mechanical claw rotating shaft (309), the intermediate mechanical claw (303) is located in the middle, and the first side mechanical claw (302) and the second side mechanical claw (304) are sequentially passed through the mechanical claw rotating shaft (309), The claw (302) and the second side mechanical claw (304) are respectively located on both sides of the middle mechanical claw (303); the root of the middle mechanical claw (303) is fixed on the mechanical claw fixing plate (301), the root of the first side mechanical claw (302) and the root of the second side mechanical claw (304) are elastically connected to the mechanical claw fixing plate (301), and the upper limit position of the first side mechanical claw (302) and the upper limit position of the second side mechanical claw (304) are located in the same plane as the position of the middle mechanical claw (303); The flexible mechanical claw assembly (3) further comprises a first side roller (305), a second side roller (307) and an intermediate roller (306); the front end of the first side mechanical claw (302) is rotatably connected to the first side roller (305); the front end of the second side mechanical claw (304) is rotatably connected to the second side roller (307); and the front end of the intermediate mechanical claw (303) is rotatably connected to the intermediate roller (306).

2. The three-coordinate robot ejection vending machine according to claim 1, characterized in that: The three-coordinate lifting transmission assembly (1) includes a base (101), an X-axis slide rail (105), an X-axis linear reciprocating drive assembly, a Y-axis slide rail (109), a Y-axis linear reciprocating drive assembly, a precise positioning mechanism (2), a lifting plate, a camera body (114), and a drop hopper (113); The X-axis slide rail (105) is arranged at the bottom of the first accommodating cavity in a horizontal direction, the base (101) is slidably connected to the X-axis slide rail (105), and the X-axis linear reciprocating drive assembly is used to drive the base (101) to reciprocate along the X-axis slide rail (105); The Y-axis slide rail (109) is arranged in a vertical direction, the lower end of the Y-axis slide rail (109) is fixed on the base (101), the lifting plate is slidably connected to the Y-axis slide rail (109), the precise positioning mechanism (2) is installed on the side of the lifting plate, and the Y-axis linear reciprocating drive assembly is used to drive the lifting plate to reciprocate along the Y-axis slide rail (109); The camera body (114) is mounted on a side surface of the lifting plate, the drop hopper (113) is mounted on the precise positioning mechanism (2), and the camera body (114) is located above the drop hopper (113).

3. The three-coordinate robot ejection vending machine according to claim 2, characterized in that: The three-coordinate lifting transmission assembly (1) further includes a camera bracket (115), the lower end of the camera bracket (115) being fixed to the side of the lifting plate, the lower end of the camera bracket (115) being located beside the drop hopper (113), and the upper end of the camera bracket (115) being mounted with the camera body (114); The camera bracket (115) is arranged in a vertical direction, and a plurality of mounting holes are provided along the length direction of the camera bracket (115), and the camera body (114) is installed in one of the mounting holes; The camera bracket (115) is a U-shaped integrally formed structure formed by bending sheet metal.

4. The three-coordinate robot ejection vending machine according to claim 3, characterized in that: The X-axis linear reciprocating drive assembly comprises an X-axis drive motor (102), an X-axis motor gear (103) and an X-axis rack (104); the housing of the X-axis drive motor (102) is mounted on the base (101); the output shaft of the X-axis drive motor (102) passes through the base (101) and is connected to the X-axis motor gear (103); the X-axis rack (104) is arranged parallel to the side of the X-axis slide rail (105); the X-axis motor gear (103) and the X-axis rack (104) are meshed for transmission; The X-axis linear reciprocating drive assembly further includes an X-axis slider (106), wherein the X-axis slider (106) is mounted on the lower surface of the base (101), and the X-axis slider (106) is slidably connected to the X-axis slide rail (105); The Y-axis linear reciprocating drive assembly includes a Y-axis drive motor (107), a Y-axis motor gear, and a Y-axis rack (108); the housing of the Y-axis drive motor (107) is mounted on the side of the lifting plate, the Y-axis drive motor (107) is located below the drop hopper (113), the output shaft of the Y-axis drive motor (107) passes through the lifting plate and is connected to the Y-axis motor gear, the Y-axis rack (108) is arranged parallel to the side of the Y-axis slide rail (109), and the Y-axis motor gear is meshed with the Y-axis rack (108) for transmission; The Y-axis linear reciprocating drive assembly further comprises a Y-axis slider, which is mounted on the rear surface of the lifting plate and is slidably connected to the Y-axis slide rail (109).

5. The three-coordinate robot ejection vending machine according to claim 4, characterized in that: The precise positioning mechanism (2) comprises a Z-axis motor (201), a driving connecting rod (202), a connecting rod rotating shaft (203), a guide groove (204), a motor mounting plate (205), a Z-axis slide rail (206), a Z-axis slider (112) and a shipping mechanism fixing platform (207); The delivery mechanism fixed platform (207) is mounted on the side of the lifting plate, the delivery mechanism fixed platform (207) is provided with the guide groove (204), the lower surface of the Z-axis slide rail (206) is fixed to the upper surface of the delivery mechanism fixed platform (207), and the bottom surface of the motor mounting plate (205) is fixed with the Z-axis slider (112); the Z-axis slider (112) is slidably mounted on the Z-axis slide rail (206), the Z-axis motor (201) is fixed on the motor mounting plate (205), the motor mounting plate (205) is provided with the drop hopper (113), and the drop hopper (113) is provided with the flexible mechanical claw assembly (3); The rotating shaft of the Z-axis motor (201) passes through the motor mounting plate (205) and is connected to one end of the driving connecting rod (202); the other end of the driving connecting rod (202) is connected to the connecting rod rotating shaft (203); and the connecting rod rotating shaft (203) is rollingly arranged in the guide groove (204); The guide groove (204) is a strip-shaped groove, and an angle is provided between the extension direction of the guide groove (204) and the direction of reciprocating movement of the motor mounting plate (205).

6. The three-coordinate robot ejection vending machine according to claim 5, characterized in that: The mechanical claw fixing plate (301) is installed in the drop hopper (113).

7. The three-coordinate robot ejection vending machine according to claim 6, characterized in that: The flexible mechanical claw assembly (3) further includes a reset torsion spring (308), wherein the reset torsion spring (308) is provided at the connection between the first side mechanical claw (302) and the mechanical claw rotating shaft (309); and the reset torsion spring (308) is provided at the connection between the second side mechanical claw (304) and the mechanical claw rotating shaft (309).

8. The three-coordinate robot ejection vending machine according to claim 7, characterized in that: The first side mechanical claw (302), the middle mechanical claw (303) and the second side mechanical claw (304) are all integrally formed structures formed by bending sheet metal; the first side mechanical claw (302), the middle mechanical claw (303) and the second side mechanical claw (304) are of equal length; the first side mechanical claw (302), the middle mechanical claw (303) and the second side mechanical claw (304) are of equal width; the spacing between the first side mechanical claw (302) and the middle mechanical claw (303) and the spacing between the second side mechanical claw (304) and the middle mechanical claw (303) are equal.

9. The three-coordinate robot ejection vending machine according to claim 8, characterized in that: It also includes a wireless transmission module, which is installed on the top of the cabinet (4) and is electrically connected to the controller in the industrial control all-in-one touch screen (6).

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