A vending machine taking device with good conveying stability

Abstract

The present invention discloses a picking device for an automatic vending machine with good conveying stability, which relates to the technical field of automatic vending machines and comprises a picking component, a conveying component and a pushing component. The whole picking device performs picking and placing operations on trayed and fragile goods. The picking component comprises a column frame body and a picking mechanism. A driving motor and a driving rod group which are sequentially connected and driven are installed on the surface of the column frame body. The technical key points are as follows: the picking component, the conveying component and the pushing component are used in combination, and while the picking component is used to pick and place goods at 90 degrees, the pushing component can also be used to synchronously drive the conveying component to operate, so that after each action of picking and placing goods is completed, the conveying component transports the next goods to a designated position, and only a single driving motor is required to complete the overall operation. At the same time, the goods have extremely high stability during the picking and placing process, so as to avoid damage to the goods.

Description

Technical Field

[0001] The present invention relates to the field of automatic vending machines, and in particular to a vending machine taking device with good conveying stability. Background Art

[0002] A vending machine is a device used to automatically sell goods or provide services. It usually consists of an integrated system, including a goods storage area, a coin or payment interface, a display screen, buttons or a touch screen, and a robotic arm or conveyor belt for delivering goods. Vending machines can provide a variety of goods, such as beverages, snacks, tobacco products, newspapers, small commodities, etc.

[0003] The existing application publication number is CN109191684A, and the technical solution pointed out in the patent named "A vending machine picking device" includes: a fixed side mounting part, a movable side mounting part and a telescopic mechanism, the fixed side mounting part is provided with a first guide structure, the movable side mounting part is provided with a second guide structure, the telescopic mechanism includes a telescopic motor and at least one group of shear rods, each group of shear rods includes a first shear rod and a second shear rod, the first shear rod and the second shear rod cross and are hinged at the intersection, one end of the first shear rod is hinged to the movable side mounting part, and the other end is connected with the first guide structure on the fixed side mounting part, one end of the second shear rod is hinged to the fixed side mounting part, and the other end is connected with the second guide structure on the movable side mounting part, and can move along the second guide structure during the telescopic process, the telescopic motor can drive the first shear rod and / or the second shear rod to rotate for telescopic, and the movable side mounting part is provided with a picking claw, the present invention has a compact structure and good conveying stability;

[0004] There is another patent with authorization announcement number CN206451285U, and the name is a patent for a picking device for a vending machine. The technical solution pointed out in the patent includes: a body with a picking cavity, a feeding port on the top of the picking cavity, a picking door panel on the front, and a picking door connected to the picking door panel for opening and closing. Its structural feature is that a picking hinge linked to the picking door is provided on the picking cavity; in the reset state, the picking door closes the picking door panel and opens the feeding port, and in the picking state, the picking door opens the picking door panel and closes the feeding port. This application can isolate the storage cavity of the vending machine from the outside world and block the convection between the two, so as to have a good thermal insulation effect and improve energy utilization.

[0005] However, in view of the above patent combined with the prior art, when selling some fragile tray-packaged items, for example, selling process trays, the traditional vending machine cannot be used at this time, and the process trays are easily damaged during the transportation process. Even if a picking claw is used, the stability of its transportation cannot be ensured. When transporting fragile items such as process trays, when using a picking claw or a suction cup, the clamping force of the picking claw cannot be controlled, and the process tray may slip or be squeezed and broken due to excessive clamping force. During the suction operation of the suction cup, the suction force cannot be controlled. If the process tray is heavy during the adsorption process, the process tray may easily fall off. Summary of the invention

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0007] A vending machine taking device with good conveying stability, comprising:

[0008] The object picking assembly comprises a column frame and an object picking mechanism. A driving motor and a transmission rod group which are sequentially connected are installed on the surface of the column frame, and the driving motor drives the object picking mechanism to move through the transmission rod group. A control panel for controlling the entire object picking device is also installed on the side of the column frame. A guiding mechanism is also installed between the object picking mechanism and the frame to limit the object picking mechanism to perform a 90° rotational movement.

[0009] A conveying assembly is installed above the driving motor, and the conveying assembly includes an outer cover body and a conveying belt group installed in the outer cover body, and the conveying belt group includes a second conveying belt and a first conveying belt which are distributed in an upper and lower manner and are connected in reverse transmission; and

[0010] A pushing assembly is installed between the transmission rod group and the first conveyor belt, and uses the transmission rod group as a power source. The pushing assembly is used to drive the first conveyor belt to move;

[0011] Among them, the picking mechanism includes a rotating frame body, and a plurality of suction cups are movably arranged on the bottom side of the rotating frame body, and an air pump component is installed on the top of the rotating frame body. When the air pump component is in the evacuation state, the goods located in the conveying component close to the picking component are adsorbed by the suction cup, and when the air pump component is in the deflation state, the goods located on the suction cup are separated from the suction cup.

[0012] The column frame body includes an integrally welded vertical column and a horizontal column, and the column frame body is L-shaped, and the upper surface of the horizontal column is always flush with the lower surface of the outer cover body.

[0013] Among them, the transmission rod group includes a rotating arm, a small arm and a large arm which are connected in sequence, the rotating arm is arranged on the output end of the driving motor, and the rotating arm and the small arm are connected by a transmission rod, the small arm and the large arm are connected by an axial rod member, and the axial rod member is through-arranged in the middle of the horizontal column, and the large arm and the rotating frame body are connected by an external shaft member.

[0014] Among them, a winding motor is embedded in the center of the bottom side of the rotating frame body, and the output end of the winding motor is connected to each suction cup by a rope body, and a probe is installed at a position adjacent to the winding motor on the bottom side of the rotating frame body to obtain a cross-sectional image of the goods in the conveying assembly, and linear slide grooves are opened near both sides of the lower surface of the rotating frame body for the corresponding two groups of suction cups to be slidably installed, and the two groups of suction cups located in the same linear slide groove are connected by an elastic member.

[0015] Wherein, the guiding mechanism comprises a rotating block and a limiting rod;

[0016] Wherein, the rotating block is connected to the top of the column by setting a rotating shaft;

[0017] The bottom end of the limiting rod passes through the rotating block and is fixedly connected to the rotating frame body.

[0018] The purge assembly is also included and installed on the surface of the column frame, and the purge assembly includes a pressing mechanism and a pipe body that are interconnected;

[0019] Wherein, an arc-shaped groove is provided at the position where the surface of the column coincides with the moving track of the big arm, for the pressing mechanism to be installed, and the pressing mechanism includes a stopper and a telescopic pressure bag member, the stopper is slidably assembled in the arc-shaped groove, the pressure bag member is used to connect the stopper and the bottom inner wall of the arc-shaped groove, and the pressure bag member is connected to the inner cavity of the tube body through a pre-buried rubber hose;

[0020] The tube body is detachably arranged on the bottom side of the horizontal column, and a plurality of nozzles are evenly arranged on the surface of the tube body facing the lower area of ​​the object-taking mechanism.

[0021] Among them, the pushing assembly includes a folding sac and a telescopic rod connected by a hose, one end of the folding sac is fixedly connected to a rack inserted in a horizontal column, and the other end is fixedly connected to the inner wall of the horizontal column, and a driving gear is welded on the surface of the shaft rod located in the horizontal column, and the driving gear is meshingly connected to the rack.

[0022] Among them, the telescopic rod is installed obliquely upward on the bottom side of the outer cover body, and a pushing member is welded to the end of the telescopic rod built into the telescopic rod. The surfaces of the second conveyor belt and the first conveyor belt are provided with a number of evenly distributed rubber strips, and the moving direction of the pushing member is toward the area between any two adjacent groups of rubber strips below the first conveyor belt.

[0023] Among them, a synchronization mechanism is arranged on the surface of the outer cover body, and the synchronization mechanism includes a gear set and a belt distributed in an upper and lower manner, the gear set includes an upper gear and a lower gear meshing with each other, the upper gear is fixedly connected to the transmission shaft matching the second conveyor belt, and the wheel axle at the center of the lower gear is connected to the transmission shaft matching the first conveyor belt through a belt drive.

[0024] The control panel has built-in data acquisition modules, data analysis modules and suction execution modules that run in sequence. The data acquisition module is used to obtain the weight G of a single cargo and the estimated cross-sectional area M of a single cargo in the conveying component. The data analysis module builds a data analysis model based on the data obtained by the data acquisition module, and generates the suction execution volume Zc after dimensionless processing of the obtained data, based on the following formula:

[0025]

[0026] In the formula, α and β are respectively the preset proportional coefficients of the weight G of a single cargo and the estimated cross-sectional area M of a single cargo, and α>β>0, G is a constant correction coefficient, Yzs represents the estimated index, and Yc represents the preset suction volume threshold; the execution suction module issues a suction instruction to the air pump component according to the generated execution suction volume Zc.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The present invention combines the picking component, the conveying component and the pushing component for use. While the picking component is used to pick up and place goods at 90 degrees, the pushing component can also be used to synchronously drive the conveying component to operate, so that after each action of picking up and placing goods is completed, the conveying component transports the next goods to the designated position. Only a single driving motor is required to complete the overall operation. At the same time, the goods have extremely high stability during the picking and placing process to avoid damage to the goods.

[0029] 2. The present invention uses the cargo cross-sectional image of the cargo of the probe, and after analysis and processing, can obtain the estimated cross-sectional area M of the cargo. The staff can adjust the size of the area surrounded by each suction cup by controlling the winding motor according to the estimated cross-sectional area M to cope with cargo of different specifications. At the same time, combined with the estimated cross-sectional area M of the cargo, the execution suction volume Zc obtained through analysis and calculation can be finally obtained, so that the air pump can adjust the suction volume according to the actual cargo, avoiding the problem of cargo falling during transportation due to the small suction volume generated by traditional equipment, which reflects the practicality of the entire device;

[0030] 3. The present invention uses a picking component and a purge component in combination. The picking component can not only complete the stable operation of picking up and placing goods, but also drive the blocker to move during the operation, so that the pressure bag can supply air to the tube body. The airflow generated from each nozzle can complete the purge and cleaning operation on the surface of the placed goods, which can prevent dust from adhering to the surface of the goods to a certain extent, and improve the user's purchasing experience;

[0031] 4. The present invention adds a pushing component and a synchronization mechanism between the picking component and the conveying component. When the picking component is working, the pushing component and the synchronization mechanism can be used to regularly convey the goods in the conveying component to the picking position of the picking component. The rubber strip designed in the conveying component can not only separate adjacent goods, but also cooperate with the pushing component to ensure the operation of the first conveyor belt, reflecting the flexibility of the design of the entire device. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings.

[0033] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0034] Figure 2 This is one of the structural schematic diagrams of the object-retrieving component of the present invention;

[0035] Figure 3 This is the second structural schematic diagram of the object taking component of the present invention;

[0036] Figure 4 It is a schematic diagram of the structure of each suction cup on the transfer frame of the present invention;

[0037] Figure 5 It is a schematic diagram of the purge assembly in the present invention in a disassembled state;

[0038] Figure 6 It is a schematic diagram of the structure of the conveying assembly of the present invention;

[0039] Figure 7 It is a schematic diagram of the push assembly and the first conveyor belt in the present invention in a separated state;

[0040] Figure 8 It is a schematic diagram of the first and second conveyor belts in the connected state in the present invention.

[0041] Legend: 1. Vertical column; 2. Horizontal column; 3. Control panel; 4. Pick-up mechanism; 401. Rotating frame; 402. Air pump component; 403. Suction cup; 5. Guide mechanism; 501. Rotating block component; 502. Limit rod; 6. Transmission rod group; 601. Upper arm; 602. Axis rod component; 603. Lower arm; 604. Rotating arm; 605. Outer shaft component; 7. Driving motor; 8. Outer cover; 9. First conveyor belt; 10. Second conveyor belt; 11. Winding motor; 12. Elastic component; 13. Rope body; 14. Probe; 15. Arc groove; 16. Stopper; 17. Pressure bag component; 18. Tube body; 19. Nozzle; 20. Rubber strip; 21. Gear group; 22. Driving gear component; 23. Rack; 24. Folding bag body; 25. Telescopic rod component; 26. Pushing component. DETAILED DESCRIPTION

[0042] The embodiment of the present application provides a picking device for a vending machine with good conveying stability, and combines a picking component, a conveying component and a pushing component for use. While the picking component is used to pick up and place goods at 90 degrees, the pushing component can also be used to synchronously drive the conveying component to operate, so that each time the action of picking up and placing goods is completed, the conveying component transports the next goods to a designated position. Only a single driving motor is required to complete the overall operation. At the same time, the goods have extremely high stability during the picking and placing process, which prevents the goods from being damaged, thereby solving the technical problems mentioned in the background technology.

[0043] The technical solution in the embodiment of the present application is to solve the problems of the above-mentioned background technology, and the overall idea is as follows:

[0044] Embodiment 1:

[0045] This embodiment introduces a specific structure of a vending machine taking device with good conveying stability, such as Figure 1-Figure 8 As shown, it includes a picking component, a conveying component and a pushing component. The entire picking device is used for picking and placing trayed and fragile goods;

[0046] The picking component includes a column frame body and a picking mechanism 4. The surface of the column frame body is equipped with a driving motor 7 and a transmission rod group 6 which are sequentially connected, and the driving motor 7 drives the picking mechanism 4 to move through the transmission rod group 6. A control panel 3 for controlling the entire picking device is also installed on the side of the column frame body, and the processor built into the control panel 3 adopts the PLC226 model. A guiding mechanism 5 is also installed between the picking mechanism 4 and the frame body to limit the picking mechanism 4 to perform a 90° rotation movement to ensure that the picking component completes the operation of picking up and placing goods;

[0047] The guiding mechanism 5 includes a rotating block 501 and a limiting rod 502; wherein the rotating block 501 is connected to the top of the column 1 by a rotating shaft, so that the rotating block 501 can rotate; the bottom end of the limiting rod 502 passes through the rotating block 501 and is fixedly connected to the rotating frame body 401. When taking and placing goods, the limiting rod 502 at this location always reciprocates in the rotating block 501. At the same time, the suction cups 403 on the picking mechanism 4 are vertically distributed when taking goods, and horizontally distributed when placing goods, that is, Figure 1 The status shown;

[0048] The conveying assembly is installed above the driving motor 7 and is used in conjunction with the picking assembly. The conveying assembly includes an outer cover 8 and a conveyor belt group installed in the outer cover 8. The conveyor belt group includes a second conveyor belt 10 and a first conveyor belt 9 that are distributed in an up-and-down manner and are connected in reverse transmission. The second conveyor belt 10 and the first conveyor belt 9 always keep synchronous movement. The goods located on the second conveyor belt 10 and the first conveyor belt 9 are transported to the position closest to each suction cup 403, that is, the position where the picking assembly performs the picking operation;

[0049] The push assembly is installed between the transmission rod group 6 and the first conveyor belt 9. The transmission rod group 6 is used as a power source. The push assembly is used to drive the first conveyor belt 9 to move, and driven by the synchronization mechanism, the second conveyor belt 10 also moves synchronously.

[0050] Among them, the picking mechanism 4 includes a rotating frame body 401, and a plurality of suction cups 403 are movably arranged on the bottom side of the rotating frame body 401. The actual number of suction cups 403 in the present application is four groups, and an air pump component 402 is installed on the top of the rotating frame body 401. The air pump component 402 can switch between vacuuming and inflation. When the air pump component 402 is in the vacuuming state, the goods located in the conveying component close to the picking component are adsorbed by the suction cups 403. At this time, the four groups of suction cups 403 are in a vertically distributed state. When the air pump component 402 is in the deflated state, the goods located on the suction cups 403 are separated from the suction cups 403. At this time, each suction cup 403 is in a horizontally distributed state.

[0051] In some examples, the column frame includes an integrally welded column 1 and a horizontal column 2, and the column frame is L-shaped, and the upper surface of the horizontal column 2 is always flush with the lower surface of the outer cover 8. Figure 1 You can see the status and position of the entire column frame.

[0052] In some examples, the transmission rod group 6 includes a rotating arm 604, a small arm 603 and an upper arm 601 which are sequentially connected in transmission. The rotating arm 604 is arranged on the output end of the driving motor 7, and the rotating arm 604 and the small arm 603 are connected by a transmission rod, the small arm 603 and the upper arm 601 are connected by an axis member 602, and the axis member 602 is through-set in the middle of the cross column 2, and the upper arm 601 is connected to the rotating frame body 401 by setting an external axis member 605. Since the axis member 602 in the transmission rod group 6 drives the driving gear member 22 to rotate synchronously, the rack 23 also performs reciprocating motion, and the rack 23 drives the folding bag 24 to inflate and evacuate air, and then the telescopic rod member 25 drives the pushing member 26 to reciprocate. During one reciprocating motion of the pushing member 26, the pushing member 26 contacts the corresponding rubber strip 20 on the first conveyor belt 9 and completes the driving process of the first conveyor belt 9.

[0053] By adopting the above technical solution: the present invention combines the picking component, the conveying component and the pushing component for use. While using the picking component to pick up and place goods at 90 degrees, the pushing component can also be used to synchronously drive the conveying component to operate, so that each time the action of picking up and placing goods is completed, the conveying component transports the next goods to the designated position. Only a single drive motor 7 is required to complete the overall operation. At the same time, the goods have extremely high stability during the picking and placing process to avoid damage to the goods.

[0054] Embodiment 2:

[0055] Based on Example 1, this example introduces a specific structure of a rotating frame and a control panel in a vending machine taking device with good conveying stability, such as Figure 2 and Figure 4 As shown, a winding motor 11 is embedded in the center of the bottom side of the rotating frame body 401, and the output end of the winding motor 11 is connected to each suction cup 403 by setting a rope body 13. By controlling the rotation direction of the winding motor 11, the size of the area enclosed by each suction cup 403 can be changed. A probe 14 is installed at a position adjacent to the winding motor 11 on the bottom side of the rotating frame body 401 for obtaining a cross-sectional image of the goods in the conveying assembly. Linear slide grooves are provided at positions near both sides of the lower surface of the rotating frame body 401 for sliding installation of two corresponding groups of suction cups 403, and the two groups of suction cups 403 located in the same linear slide groove are connected by setting an elastic member 12. The elastic member 12 here adopts a spring. When the winding motor 11 drives each suction cup 403 to work synchronously through the rope body 13, the spring is continuously compressed, so that when the winding motor 11 rotates in the opposite direction, each suction cup 403 can return to its original position under the action of the elastic restoring force.

[0056] In some examples, the control panel 3 has built-in data acquisition modules, data analysis modules, and suction execution modules that run in sequence. The data acquisition module is used to obtain the weight G of a single cargo and the estimated cross-sectional area M of a single cargo in the conveying assembly; the data analysis module builds a data analysis model based on the data obtained by the data acquisition module, and generates the suction execution volume Zc after dimensionless processing of the obtained data, based on the following formula:

[0057]

[0058] In the formula, α and β are respectively the preset proportional coefficients of the weight G of a single cargo and the estimated cross-sectional area M of a single cargo, and α>β>0. G is a constant correction coefficient, and its specific value can be adjusted and set by the user, or generated by analytical function fitting. Yzs represents the estimated index, which comprehensively considers the factors of cargo weight and cross-sectional area. The obtained estimated index Yzs is a parameter used to guide the subsequent calculation of the execution suction volume Zc. The cargo weight and area are accumulated and multiplied by the constant correction coefficient G, and the square root is processed to ensure the rationality of the estimated index Yzs. Yc represents the preset suction volume threshold, which is set according to historical data, and can also be adjusted and tested accordingly according to actual needs. The execution suction volume Zc is obtained based on the combination of the estimated index Yzs and the suction volume threshold Yc, which provides a specific numerical basis for the execution of the air pump component 402; the execution suction module issues a suction instruction to the air pump component 402 based on the generated execution suction volume Zc.

[0059] The weight G of a single cargo can be known in advance through the label of the corresponding cargo and input into the control panel 3. The estimated cross-sectional area M of a single cargo is obtained by processing the probe 14 to obtain the cross-sectional image of the cargo in the conveying component and using the edge detection technology to obtain the estimated cross-sectional area M of the single cargo.

[0060] Specifically, edge detection is a commonly used technology in computer vision, which is used to extract the boundary information of objects in images. The process of edge detection can be described by the following steps: Image preprocessing: preprocess the cross-sectional image, including grayscale, filtering and denoising operations to reduce the noise in the image and enhance the edge information; edge detection algorithm: use any one of the edge detection algorithms such as Sobel, Canny and Laplacian to process the preprocessed image to determine the position of the edge; edge extraction: the edge detection algorithm will output a binary image in which the edges are white and other areas are black. The image can be regarded as the cross-section of the object in the image; pixel counting: by counting the pixels of the edge image, the cross-sectional area of ​​the object can be obtained, usually using the integral image method or polygon filling algorithm.

[0061] By adopting the above technical solution: the present invention utilizes the cargo cross-sectional image of the cargo by the probe 14, and after analysis and processing, the estimated cross-sectional area M of the cargo can be obtained. The staff can adjust the size of the area enclosed by each suction cup 403 according to the estimated cross-sectional area M by controlling the winding motor 11 to cope with cargo of different specifications. At the same time, combined with the estimated cross-sectional area M of the cargo, the execution suction volume Zc obtained through analysis and calculation can be finally obtained, so that the air pump component 402 adjusts the suction volume according to the actual cargo, thereby avoiding the problem of cargo falling during transportation due to the small suction volume generated by traditional equipment, thereby reflecting the practicality of the entire device.

[0062] Embodiment 3:

[0063] Based on Example 1, this example introduces a specific structure of a purge component in a vending machine pickup device with good conveying stability, such as Figure 2 and Figure 5 As shown, it also includes a purge assembly installed on the surface of the column frame, and the purge assembly includes a pressing mechanism and a pipe body 18 that are interconnected;

[0064] Wherein, an arc groove 15 is provided at a position where the surface of the column 1 coincides with the moving trajectory of the upper arm 601, for the pressing mechanism to be installed, and the pressing mechanism includes a stopper 16 and a telescopic pressure bag member 17. Since a spring is arranged in the pressure bag member 17, the pressure bag member 17 is telescopic, and the stopper 16 is slidably assembled in the arc groove 15. The pressure bag member 17 is used to connect the stopper 16 and the bottom inner wall of the arc groove 15, and the pressure bag member 17 is connected to the inner cavity of the tube body 18 through a pre-buried rubber hose. When the pressure bag member 17 is compressed, it can continuously supply air to the tube body 18, and the gas in the tube body 18 is ejected from each nozzle 19 to complete the purging operation of the cargo. When the pressure bag member 17 is not compressed, it is restored to the restoring force of its built-in spring. Figure 5 The status shown;

[0065] The tube body 18 is detachably arranged on the bottom side of the horizontal column 2, and a plurality of nozzles 19 are evenly arranged on the surface of the tube body 18 facing the lower area of ​​the picking mechanism 4. When setting the position of the nozzle 19, it is necessary to ensure that the airflow generated by the nozzle 19 covers the surface of the placed goods.

[0066] By adopting the above technical solution: the present invention uses the picking component and the purging component in combination, the picking component can not only complete the stable operation of picking up and placing goods, but also drive the blocking member 16 to move during the operation, so that the pressure bag member 17 can supply air to the tube body 18, and the airflow generated from each nozzle 19 can complete the purging and cleaning operation on the surface of the placed goods, thereby avoiding dust from adhering to the surface of the goods to a certain extent, and improving the user's purchasing experience.

[0067] Embodiment 4:

[0068] Based on Example 1, this example introduces a specific structure of a push assembly and a synchronization mechanism in a vending machine pickup device with good conveying stability, such as Figure 1 and Figure 6-Figure 8 As shown, the pushing assembly includes a folding capsule 24 and a telescopic rod 25 connected by a hose, one end of the folding capsule 24 is fixedly connected to the rack 23 inserted in the cross column 2, and the other end is fixedly connected to the inner wall of the cross column 2. The portion of the surface of the shaft member 602 located in the cross column 2 is welded with a driving gear 22, and the driving gear 22 moves synchronously with the shaft member 602, and the driving gear 22 is meshingly connected to the rack 23, and the moving direction of the rack 23 is determined according to the rotation direction of the driving gear 22.

[0069] In some examples, the telescopic rod 25 is installed obliquely upward on the bottom side of the outer cover body 8. The purpose of the inclined installation is to ensure that the pushing operation of the first conveyor belt 9 can be completed during the reciprocating movement of the pushing member 26. The front side of the outer cover body 8 is transparent, which is convenient for shoppers to intuitively see the remaining quantity of the required goods, and it is also convenient for the staff to replenish the goods in time. The end of the telescopic rod built into the telescopic rod 25 is welded with a pushing member 26. The surfaces of the second conveyor belt 10 and the first conveyor belt 9 are provided with a plurality of evenly distributed rubber strips 20, and the actual height of each rubber strip 20 can be set as needed. The moving direction of the pushing member 26 is toward the area between any two adjacent groups of rubber strips 20 below the first conveyor belt 9. In addition, the spacing between the first conveyor belt 9 and the second conveyor belt 10 can also be adjusted. The staff can adjust the height of the second conveyor belt 10 by disassembling the screws to cope with goods of different heights.

[0070] In some examples, a synchronization mechanism is provided on the surface of the outer cover 8, and the synchronization mechanism includes a gear set 21 and a belt distributed in an upper and lower manner, the gear set 21 includes an upper gear and a lower gear meshing with each other, the upper gear is fixedly connected to the transmission shaft matched with the second conveyor belt 10, and the wheel axle at the center of the lower gear is connected to the transmission shaft matched with the first conveyor belt 9 through a belt drive, refer to Figure 8 It can be seen that the movement directions of the gear set 21, the second conveyor belt 10 and the first conveyor belt 9.

[0071] By adopting the above technical solution: the present invention adds a pushing component and a synchronization mechanism between the picking component and the conveying component. When the picking component is working, the pushing component and the synchronization mechanism can be used to ensure that the goods located in the conveying component are regularly conveyed to the picking position of the picking component. The rubber strip 20 designed in the conveying component can not only separate adjacent goods, but also cooperate with the pushing component to ensure the operation of the first conveyor belt 9, reflecting the flexibility of the design of the entire device.

[0072] Based on the above-mentioned Embodiment 1 to Embodiment 4, it can be known that the working process of the present invention is:

[0073] S1. After the power of the whole device is turned on, the driving motor 7 drives the picking mechanism 4 to move through the transmission rod group 6. During the movement, the picking mechanism 4 is limited by the guide mechanism 5, so that after the picking mechanism 4 rotates 90° counterclockwise, its own position also enters Figure 1 The middle conveying assembly opening;

[0074] S2, the probe 14 on the object-picking mechanism 4 obtains a cross-sectional image of the goods in the conveying component, and sends it to the control panel 3. After being processed by the data acquisition module, the estimated cross-sectional area M of a single cargo is obtained, and combined with the previously known weight G of a single cargo, the data analysis module is used to build a data analysis model based on the data obtained by the data acquisition module, and the acquired data is dimensionlessly processed to generate an execution suction volume Zc. Finally, the execution suction module issues an air pumping instruction to the air pump component 402 based on the generated execution suction volume Zc. At this time, the air pump component 402 is turned on and works according to the specific execution suction volume Zc, and each suction cup 403 completes the adsorption and fixation of the goods at the opening of the conveying component;

[0075] S3, the driving motor 7 continues to drive the picking mechanism 4 to move through the transmission rod group 6. At this time, the picking mechanism 4 returns to the position after taking out a single item from the conveying assembly. Figure 1 In the initial state shown in FIG. 1 , during this process, the shaft member 602 in the transmission rod assembly 6 drives the driving gear member 22 to rotate synchronously, so that the rack 23 also performs linear motion, and the rack 23 drives the folding capsule 24 to inflate, and then the telescopic rod member 25 drives the pusher 26 to rotate according to Figure 7 The pusher 26 moves in the direction indicated by the middle arrow, and contacts the corresponding rubber strip 20 on the first conveyor belt 9, and completes the driving process of the first conveyor belt 9, and the next cargo is pushed out and enters the position of the last cargo taken;

[0076] S4. When the picking mechanism 4 drives the suction cups 403 to return to a horizontally distributed state, the control panel 3 issues an inflation command to the air pump 402. At this time, the goods adsorbed on the suction cups 403 are pushed away from the suction cups 403. After the goods are placed horizontally at the picking port, the entire device continues to execute the operation of S1, and the buyer can take out the goods through the picking port.

[0077] Finally, it should be noted that: Obviously, the above embodiments are only examples for clearly explaining the present invention, and are not intended to limit the implementation methods. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from this are still within the scope of protection of the present invention.

Claims

1. A vending machine pickup device with good conveying stability, characterized in that: include: A picking assembly, comprising a column frame and a picking mechanism (4); a driving motor (7) and a transmission rod group (6) which are sequentially connected in transmission are mounted on the surface of the column frame, and the driving motor (7) drives the picking mechanism (4) to move via the transmission rod group (6); a control panel (3) for controlling the entire picking device is also mounted on the side of the column frame; a guiding mechanism (5) is also mounted between the picking mechanism (4) and the frame, for limiting the picking mechanism (4) from performing a 90° rotational movement; A conveying assembly is installed above the driving motor (7), and the conveying assembly comprises an outer housing (8) and a conveying belt group installed in the outer housing (8), wherein the conveying belt group comprises a second conveying belt (10) and a first conveying belt (9) which are arranged in an up-and-down manner and are connected in reverse transmission; and A pushing assembly installed between the transmission rod group (6) and the first conveyor belt (9), with the transmission rod group (6) serving as a power source, and the pushing assembly being used to drive the first conveyor belt (9) to move; The object-picking mechanism (4) comprises a rotating frame body (401), and a plurality of suction cups (403) are movably arranged on the bottom side of the rotating frame body (401), and an air pump component (402) is installed on the top of the rotating frame body (401); when the air pump component (402) is in an air-injecting state, the goods located in the conveying component and close to the object-picking component are sucked by the suction cups (403); and when the air pump component (402) is in an air-deflating state, the goods located on the suction cups (403) are separated from the suction cups (403); The column frame body comprises an integrally welded upright column (1) and a horizontal column (2), and the column frame body is L-shaped, and the upper surface of the horizontal column (2) is always kept flush with the lower surface of the outer cover body (8); The transmission rod group (6) comprises a rotating arm (604), a small arm (603) and a large arm (601) which are sequentially connected in transmission, the rotating arm (604) is arranged on the output end of the driving motor (7), and the rotating arm (604) and the small arm (603) are connected via a transmission rod, the small arm (603) and the large arm (601) are connected via an axle member (602), and the axle member (602) is arranged in a through-type manner in the middle of the horizontal column (2), and the large arm (601) and the rotating frame body (401) are connected via an outer axle member (605); A winding motor (11) is embedded in the center of the bottom side of the rotating frame body (401), and the output end of the winding motor (11) is connected to each suction cup (403) by means of a rope body (13). A probe (14) is installed at a position adjacent to the winding motor (11) on the bottom side of the rotating frame body (401) for obtaining a cross-sectional image of the goods in the conveying component. Linear slide grooves are provided at positions near both sides of the lower surface of the rotating frame body (401) for slidingly installing two corresponding groups of suction cups (403), and the two groups of suction cups (403) located in the same linear slide groove are connected by means of an elastic member (12); It also includes a purge assembly installed on the surface of the column frame, and the purge assembly includes a pressing mechanism and a tube body (18) that are interconnected; Wherein, an arc-shaped groove (15) is provided at a position where the surface of the column (1) coincides with the moving trajectory of the upper arm (601), for the pressing mechanism to be installed therein, and the pressing mechanism comprises a stopper (16) and a telescopic pressing bag member (17), the stopper (16) being slidably mounted in the arc-shaped groove (15), the pressing bag member (17) being used to connect the stopper (16) and the bottom inner wall of the arc-shaped groove (15), and the pressing bag member (17) is connected to the inner cavity of the tube body (18) via a pre-buried rubber hose; The tube body (18) is detachably arranged on the bottom side of the horizontal column (2), and a plurality of nozzles (19) are evenly arranged at the area below the surface of the tube body (18) facing the object-retrieving mechanism (4).

2. The device for picking up items from a vending machine with good conveying stability as claimed in claim 1, characterized in that: The guiding mechanism (5) comprises a rotating block (501) and a limiting rod (502); Wherein, the rotating block (501) is connected to the top end of the column (1) by means of a rotating shaft; The bottom end of the limiting rod (502) passes through the rotating block (501) and is fixedly connected to the rotating frame body (401).

3. The picking device for an automatic vending machine with good conveying stability as claimed in claim 1, characterized in that: The pushing assembly comprises a folding sac (24) and a telescopic rod (25) connected by a hose, one end of the folding sac (24) being fixedly connected to a rack (23) inserted in a cross column (2), and the other end being fixedly connected to an inner wall of the cross column (2), a driving toothed member (22) being welded to a portion of the surface of the shaft member (602) located in the cross column (2), and the driving toothed member (22) being meshingly connected to the rack (23).

4. The device for picking up items from an automatic vending machine with good conveying stability as claimed in claim 3, characterized in that: The telescopic rod (25) is installed obliquely upward on the bottom side of the outer cover (8), and a pusher (26) is welded to the end of the telescopic rod built into the telescopic rod (25). The surfaces of the second conveyor belt (10) and the first conveyor belt (9) are both provided with a plurality of evenly distributed rubber blocking strips (20), and the moving direction of the pusher (26) is toward the area between any two adjacent groups of rubber blocking strips (20) below the first conveyor belt (9).

5. The picking device for an automatic vending machine with good conveying stability as claimed in claim 1, characterized in that: The outer cover (8) is provided with a synchronizing mechanism on its surface, and the synchronizing mechanism comprises a gear set (21) and a belt which are arranged in an upper and lower manner, the gear set (21) comprises an upper gear and a lower gear which mesh with each other, the upper gear is fixedly connected to a transmission shaft matching the second conveyor belt (10), and the wheel axle at the center of the lower gear is connected to a transmission shaft matching the first conveyor belt (9) via a belt transmission.

6. The picking device for an automatic vending machine with good conveying stability as claimed in claim 1, characterized in that: The control panel (3) has a built-in data acquisition module, a data analysis module, and an execution suction module, which are operated in sequence. The data acquisition module is used to obtain the weight G of a single cargo and the estimated cross-sectional area M of a single cargo in the conveying component; the data analysis module builds a data analysis model based on the data obtained by the data acquisition module, and after dimensionless processing of the obtained data, generates an execution suction volume Zc, based on the following formula: In the formula, are the preset proportional factors of the weight G of a single cargo and the estimated cross-sectional area M of a single cargo, respectively, and , G is the constant correction coefficient, represents the estimated index, Indicates a preset suction volume threshold; the suction execution module issues a suction instruction to the air pump component (402) based on the generated execution suction volume Zc.

Images