Vending device and control method thereof

Abstract

The invention discloses a vending device and a control method thereof, the vending device comprises a first conveying mechanism, the first conveying mechanism is provided with a plurality of first limiting parts at intervals along the conveying direction, and a storage space for accommodating articles is formed between the adjacent first limiting parts; the second conveying mechanism is adjacent to the first conveying mechanism; wherein the first conveying mechanism is used for conveying the articles in the storage space to a first preset position and releasing the articles, and the second conveying mechanism is used for receiving the articles and conveying the articles to a second preset position for releasing the articles. The storage space is formed through the first limiting piece arranged on the first conveying mechanism and is adjacently matched with the second conveying mechanism, automatic storage, release and continuous conveying of objects are achieved, traditional manual distribution is replaced with a mechanical mode, and the technical problem of low distribution efficiency is effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic vending, and in particular to a vending device and a control method thereof. Background Art

[0002] In places such as hotels, it is usually necessary to provide daily necessities delivery services to customers. The traditional practice is for service staff to deliver the required items (such as towels, toothbrushes, slippers, etc.) directly to the guest rooms. This method has problems such as high labor costs, low delivery efficiency, and limited service time.

[0003] With the development of intelligent technology, more and more places are beginning to adopt intelligent delivery methods. Users can place orders for required items remotely through mobile phones and other terminals, and intelligent delivery robots will complete the delivery. The current delivery method is to manually put the items purchased by users into the intelligent delivery robot, which is inefficient when facing a large number of orders. Summary of the invention

[0004] The main purpose of the present invention is to provide a vending device and a control method thereof to solve the above technical problems.

[0005] In a first aspect, the present invention provides a vending device, comprising: a first conveying mechanism, on which a plurality of first limit members are arranged at intervals along a conveying direction, and a storage space for accommodating articles is formed between adjacent first limit members; and a second conveying mechanism, which is arranged adjacent to the first conveying mechanism; wherein the first conveying mechanism is used to convey the articles in the storage space to a first predetermined position and release the articles, and the second conveying mechanism is used to receive the articles and convey the articles to a second predetermined position for release.

[0006] Wherein, a plurality of first fixing structures are arranged on the first conveying mechanism at intervals along the conveying direction, and each of the first position-limiting members is detachably connected to the corresponding first fixing structure.

[0007] Among them, it also includes: a base, on which second limiting members are arranged opposite to each other, and the first conveying mechanism is arranged between the second limiting members; a plurality of second fixed structures, the second fixed structures are arranged on the base along a direction perpendicular to the conveying direction, and each second limiting member is detachably connected to the corresponding second fixed structure.

[0008] Among them, it also includes: a through-type sensor, which includes a transmitting end and a receiving end arranged at opposite ends of the first conveying mechanism; a through hole is arranged on the surface of the first limiting member, and the light beam emitted by the transmitting end can pass through the through hole to reach the receiving end, which is used to detect the presence of objects on the first conveying mechanism.

[0009] Among them, it also includes: a cabinet, wherein the cabinet has a first cavity and a second cavity arranged adjacent to each other; wherein, multiple groups of the first conveying mechanisms are arranged in the first cavity along the vertical direction, the second conveying mechanism is arranged in the second cavity, and is located below the multiple groups of the first conveying mechanisms, and an image acquisition component is arranged in the second cavity for detecting the presence of objects on the second conveying mechanism, and the second conveying mechanism is configured to start operation when the image acquisition component detects an object.

[0010] Among them, multiple slide rail assemblies are arranged in the first cavity along the vertical direction, and each of the slide rail assemblies includes: slide rails arranged opposite to each other; a slide plate slidably connected to the slide rails, and the sliding path of the slide plate extends along the front and rear direction of the cabinet; each group of the first conveying mechanisms is respectively arranged on the corresponding slide plate.

[0011] Among them, a guide assembly is provided at one end of the second conveying mechanism, and the guide assembly includes: a second guide plate; a driving mechanism for driving the second guide plate to switch between a storage position and a guide position; the second guide plate is used to dock with the receiving port of the delivery robot at the guide position.

[0012] Among them, a door panel assembly is provided on the front side of the cabinet body, and the door panel assembly includes: a cabinet door, on which a delivery port is provided; a door track provided on the cabinet door; and an automatic door slidably connected to the door track, wherein the automatic door is configured to be able to close to cover the delivery port when the second guide plate is located in the storage position.

[0013] In a second aspect, the present invention further provides a control method for a vending device, which is applied to the vending device as described in the first aspect, and comprises the following steps:

[0014] Receive shopping orders from users;

[0015] Determine a first conveying mechanism where the items to be released are located according to the shopping order;

[0016] Controlling the first conveying mechanism to operate so that the article is conveyed to a first predetermined position and released;

[0017] After detecting that the second conveying mechanism has received the article, the article is conveyed to a second predetermined position for release.

[0018] Wherein, when the second predetermined position is a receiving port of the delivery robot, after receiving the shopping order from the user, the method further includes:

[0019] Control the automatic door to open sideways along the door track;

[0020] Controlling the second guide plate to rotate from the storage position to a guide position docking with the receiving port of the delivery robot;

[0021] Controlling the second conveying mechanism to convey the article to the receiving port of the delivery robot;

[0022] After the conveyance of the articles is completed, controlling the second guide plate to rotate to the storage position;

[0023] Control the automatic door to close.

[0024] The beneficial technical effect of the present invention is as follows: a storage space is formed by the first limit piece arranged on the first conveying mechanism, and cooperates with the second conveying mechanism adjacently, thereby realizing automatic storage, release and continuous conveying of items, thereby replacing traditional manual delivery in a mechanized manner and effectively solving the technical problem of low delivery efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0026] Figure 1 A three-dimensional schematic diagram of a cabinet and components therein in a vending device provided in an embodiment of the present invention;

[0027] Figure 2 A front view schematic diagram of a cabinet and components therein in a vending device provided in an embodiment of the present invention;

[0028] Figure 3 for Figure 2 A is an enlarged schematic diagram;

[0029] Figure 4 A three-dimensional schematic diagram of a first conveying mechanism in a vending device provided in an embodiment of the present invention;

[0030] Figure 5 for Figure 4 A magnified schematic diagram of B;

[0031] Figure 6 for Figure 4 A magnified schematic diagram of middle C;

[0032] Figure 7 A schematic top view of a first conveying mechanism in a vending device provided in an embodiment of the present invention;

[0033] Figure 8 A three-dimensional schematic diagram of a first conveying mechanism and a slide rail assembly at the bottom thereof in a vending device provided by an embodiment of the present invention;

[0034] Fig. 9A three-dimensional schematic diagram of a second conveying mechanism and a guide assembly in a vending device provided in an embodiment of the present invention;

[0035] Fig.10 A three-dimensional schematic diagram of a cabinet and a delivery robot in a vending device provided in an embodiment of the present invention;

[0036] Fig.11 A three-dimensional schematic diagram of a cabinet and a door panel assembly on the front side thereof in a vending device provided in an embodiment of the present invention;

[0037] Fig.12 A schematic rear view of a door panel assembly in a vending device provided by an embodiment of the present invention;

[0038] Fig.13 A schematic diagram of a flow chart of a control method of a vending device provided by an embodiment of the present invention;

[0039] Fig.14 Another schematic diagram of a flow chart of a control method for a vending device provided by an embodiment of the present invention;

[0040] Fig.15 A further flow chart of the control method of the vending device provided in the embodiment of the present invention is provided.

[0041] Description of reference numerals:

[0042] In the figure: 10-first conveying mechanism, 11-article, 12-roller, 13-chain plate, 20-first limiter, 21-through hole, 30-second conveying mechanism, 31-image acquisition component, 40-first guide plate, 50-base, 51-support column, 60-second limiter, 61-positioning plate, 70-first fixed structure, 80-second fixed structure, 91-transmitting end, 92-receiving end, 100-cabinet, 110-first cavity, 120-second cavity, 121-baffle, 131-slide rail, 132-slide plate, 140-guide assembly, 141-second guide plate, 142-driving mechanism, 150-door panel assembly, 151-cabinet door, 152-door rail, 153-automatic door, 154-shipping port, 160-delivery robot. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0045] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0046] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0047] like Figure 1-Figure 4 As shown, a vending device provided by an embodiment of the present invention is used to store and transport items 11 purchased remotely by users, such as paper towels, clothes, toiletries, etc. The vending device includes: a first conveying mechanism 10, on which a plurality of first stoppers 20 are arranged at intervals along the conveying direction, and a storage space for accommodating the items 11 is formed between adjacent first stoppers 20; a second conveying mechanism 30, which is arranged adjacent to the first conveying mechanism 10; wherein the first conveying mechanism 10 is used to convey the items 11 in the storage space to the first predetermined position and release the items 11, and the second conveying mechanism 30 is used to receive the items 11 and convey the items 11 to the second predetermined position for release.

[0048] In this embodiment, the first conveying mechanism 10 and the second conveying mechanism 30 are disposed adjacent to each other to achieve continuous conveyance of the articles 11 .

[0049] The first conveying mechanism 10 adopts a chain plate conveyor line, including two front and rear rollers 12 and a chain plate 13 wound thereon. One of the rollers 12 is connected to the drive motor as a driving wheel, and the other is a driven wheel. The chain plate 13 surrounds the two rollers 12 to form a conveying loop. A plurality of first stoppers 20 are arranged at intervals along the conveying direction on the chain plate 13, and these first stoppers 20 are evenly distributed along the circumference of the chain plate 13. A storage space for accommodating the article 11 is formed between two adjacent first stoppers 20, and the articles 11 in the storage space are limited by the first stoppers 20 to ensure that the articles 11 can move stably following the operation of the chain plate conveyor line.

[0050] When the object 11 needs to be released, the first conveying mechanism 10 starts to operate. As the chain plate 13 moves, the object 11 in the storage space will be conveyed to the first predetermined position, which is the turning position (i.e., the front end) of the first conveying mechanism 10 close to the second conveying mechanism 30. At this position, since the chain plate 13 needs to bypass the front roller 12 and turn, the storage space originally formed by the two adjacent first limit members 20 will gradually open. At this time, the object 11 will be naturally released under the action of gravity.

[0051] The second conveying mechanism 30 is a belt conveyor line, which is arranged at the lower right of the first conveying mechanism 10. When the object 11 slides from above onto the second conveying mechanism 30, the second conveying mechanism 30 will convey it to the second predetermined position for release, and the second predetermined position is the position of the receiving port of the delivery robot 160. That is, the object 11 is conveyed to the receiving port of the delivery robot 160 for release.

[0052] like Figure 4 As shown, in this embodiment, in order to make the release process of the article 11 of the first conveying mechanism 10 smoother, an inclined first guide plate 40 is provided at the front end of the first conveying mechanism 10, and the article 11 can slide smoothly along the inclined surface of the first guide plate 40 to the second conveying mechanism 30 below.

[0053] The vending device of the embodiment of the present invention forms a space for accommodating the article 11 by setting a plurality of first stoppers 20 on the first conveying mechanism 10 (chain plate conveying line), and realizes the automatic release of the article 11 by turning the chain plate 13 at the front end, and cooperates with the guiding function of the first guide plate 40 to realize the smooth conveyance and accurate release of the article 11 without manual intervention. The structure is simple, the operation is reliable, the vending efficiency is greatly improved, and it is particularly suitable for use in places that require 24-hour service.

[0054] like Figure 4 and Figure 5 As shown, in one embodiment, a plurality of first fixing structures 70 are arranged at intervals along the conveying direction on the first conveying mechanism 10 , and each first position-limiting member 20 is detachably connected to a corresponding first fixing structure 70 .

[0055] In this embodiment, in order to meet the storage and transportation requirements of articles 11 of different specifications, a plurality of first fixing structures 70 are provided along the conveying direction on the chain plate 13 of the first conveying mechanism 10. Each first stopper 20 can be detachably connected to the corresponding first fixing structure 70, so as to adjust the position of the first stopper 20.

[0056] Specifically, a first fixing structure 70 is provided at regular intervals along the conveying direction of the chain plate conveyor line. These first fixing structures 70 can be structural forms such as threaded holes and slots that can be detachably connected to the first limiter 20. Accordingly, a connecting portion (not shown in the drawings), such as a bolt or a buckle, that cooperates with the first fixing structure 70 is provided at the bottom of the first limiter 20. Through this detachable connection method, the operator can adjust the position of the first limiter 20 in the conveying direction according to actual needs, thereby changing the spacing between adjacent first limiters 20.

[0057] For example, when a larger object 11 needs to be transported, the spacing between adjacent first position-limiting members 20 can be increased. The specific operation is to remove some of the first position-limiting members 20 from the original first fixing structure 70, and then reinstall them on the first fixing structure 70 with a larger spacing. Conversely, if a smaller object 11 needs to be transported, the spacing between adjacent first position-limiting members 20 can be reduced, and the first position-limiting members 20 only need to be installed on the first fixing structure 70 with a smaller spacing.

[0058] Through this adjustable design, the vending device of this embodiment can flexibly adapt to the storage and transportation requirements of articles 11 of different specifications, thereby improving the practicality and versatility of the device. At the same time, due to the detachable connection, the adjustment operation is simple and convenient, and the adjustment can be completed without professional tools.

[0059] like Figure 4 and Figure 7 As shown, in one embodiment, it also includes: a base 50, on which second limiting members 60 are arranged opposite to each other, and the first conveying mechanism 10 is arranged between the second limiting members 60; a plurality of second fixed structures 80, the second fixed structures 80 are arranged on the base 50 along a direction perpendicular to the conveying direction, and each second limiting member 60 is detachably connected to the corresponding second fixed structure 80.

[0060] In this embodiment, in order to better constrain and guide the conveying of the article 11, a structure for lateral limiting is also provided on the base 50. Specifically, the base 50 is provided with oppositely arranged second limiting members 60, and the first conveying mechanism 10 is arranged between the two second limiting members 60. This design forms a complete conveying channel, which can effectively prevent the article 11 from deflecting during the conveying process.

[0061] A plurality of positioning grooves are provided downwardly through the surface of the base 50, and these positioning grooves constitute a second fixing structure 80, which are spaced apart perpendicular to the conveying direction. A positioning plate 61 is fixed to the bottom of the second stopper 60, and the distance of the second stopper 60 relative to the first conveying mechanism 10 can be adjusted by vertically inserting the positioning plate 61 into the positioning grooves at different positions.

[0062] In practical applications, when it is necessary to convey narrower articles 11, the second stoppers 60 on both sides can be moved closer to the first conveying mechanism 10, so that the space between the second stoppers 60 on both sides is narrowed; when it is necessary to convey wider articles 11, the second stoppers 60 can be adjusted outward to expand the spacing between the second stoppers 60 on both sides. Through this adjustable lateral stopper structure, in conjunction with the longitudinal stopper and adjustment of the spacing between the first stoppers 20, reliable stopper and guide for articles 11 of different specifications can be achieved.

[0063] In this embodiment, the extending direction of the positioning groove is parallel to the conveying direction, ensuring that the second stopper 60 can form a straight channel parallel to the conveying direction after installation. Such a design can ensure that the object 11 moves along a predetermined straight path during the conveying process, reducing the possibility of jamming.

[0064] In a specific embodiment, a plurality of screw holes for fixing are provided on one side of each positioning groove (not shown in the drawings), and a through hole (not shown in the drawings) is correspondingly provided on the positioning plate 61 of the second position-limiting member 60. After the positioning plate 61 is inserted into the positioning groove, bolts are passed through the through holes on the positioning plate 61 and connected to the screw holes on one side of the positioning groove, thereby firmly fixing the second position-limiting member 60 in the desired position. This design ensures both the adjustability of the position of the second position-limiting member 60 and its stability after installation.

[0065] For example, when the vending machine needs to be adjusted to accommodate items 11 of new specifications, the operator can: remove the bolts on the second limit member 60; pull the positioning plate 61 out of the original positioning slot; insert the positioning plate 61 into the positioning slot of the new target position; reinstall the bolts to complete the adjustment.

[0066] This design not only improves the adaptability of the vending device to articles of different specifications 11, but also ensures stability after adjustment through a reliable mechanical connection. The entire adjustment process does not require professional tools, the operation is simple and intuitive, and it greatly facilitates daily use and maintenance.

[0067] In other specific embodiments, a slider (not shown in the drawings) is provided at the bottom of the second stopper 60, and a slide groove (not shown in the drawings) is correspondingly provided on the base 50. The extension direction of the slide groove is perpendicular to the conveying direction of the first conveying mechanism 10, and the slider and the slide groove are slidably matched. By sliding the second stopper 60 to move the slider at the bottom on the slide groove, the distance of the second stopper 60 relative to the first conveying mechanism 10 can be adjusted. In order to fix the adjusted position, a locking mechanism (a second fixing structure, not shown in the drawings) is provided on the slide groove to lock the slider in the desired position.

[0068] like Figure 4 and Figure 6As shown, in one embodiment, it also includes: a through-type sensor, which includes a transmitting end 91 and a receiving end 92 arranged at opposite ends of the first conveying mechanism 10; a through hole 21 is provided on the surface of the first limit member 20, and the light beam emitted by the transmitting end 91 can pass through the through hole 21 to reach the receiving end 92, which is used to detect the presence of the object 11 on the first conveying mechanism 10.

[0069] In this embodiment, in order to monitor the storage status of the articles 11 on the first conveying mechanism 10 in real time, a beam sensor is provided at the opposite ends of the first conveying mechanism 10. The beam sensor includes a transmitting end 91 and a receiving end 92, which are respectively installed at the feeding end (i.e., the end where the articles 11 are placed, also called the "rear end") and the discharging end (i.e., the end where the articles 11 are released, also called the "front end") of the first conveying mechanism 10 (chain plate conveyor line). Correspondingly, a through hole 21 is provided in the middle of the first stopper 20, so that the light beam emitted by the transmitting end 91 can pass through these through holes 21 to reach the receiving end 92.

[0070] Specifically, a through hole penetrating the entire structure of each first stopper 20 is provided in the middle position thereof, so that the first stopper 20 is in a U-shaped structure as a whole. This design reduces the weight of the first stopper 20 on the one hand, and provides a passage for the light beam of the through-beam sensor on the other hand. When the first stopper 20 moves to the top of the base 50 along with the chain conveyor line, its opening faces upward, and the width of the opening is sufficient to allow the light beam emitted by the through-beam sensor to pass through without obstruction.

[0071] The working principle of this design is as follows: when there are items 11 stored on the chain conveyor line, the items 11 will block the optical path between the transmitting end 91 and the receiving end 92, so that the receiving end 92 cannot receive the optical signal. In this way, it can be determined that there are still items 11 on the chain conveyor line. On the contrary, when the items 11 on the chain conveyor line are transported, the light beam emitted by the transmitting end 91 can reach the receiving end 92 through the through hole 21 of the first stopper 20, which indicates that there is a shortage of goods on the chain conveyor line, and the management personnel can be reminded to replenish the goods in time.

[0072] In a specific embodiment, the signal of the through-beam sensor is also used to control the start and stop of the chain conveyor line. For example, when it is detected that there are no articles 11 on the chain conveyor line, the operation of the chain conveyor line can be suspended until new articles 11 are added and then restarted, so as to avoid energy waste caused by idling. This control method based on sensor feedback not only improves operating efficiency, but also achieves the goal of energy saving and environmental protection.

[0073] Through the combination of the through-hole 21 of the first limit member 20, the present embodiment can: grasp the storage status of the articles 11 on the chain conveyor line in real time; promptly detect out-of-stock situations and remind replenishment to avoid affecting sales efficiency; the chain conveyor line can be automatically started and stopped according to the feedback of the through-hole 21, thereby improving operating efficiency; at the same time, the through-hole sensor is used for detection, which has the characteristics of simple structure and reliable detection.

[0074] like Figure 2 As shown, in one embodiment, it also includes: a cabinet 100, wherein the cabinet 100 has a first cavity 110 and a second cavity 120 adjacent to each other; wherein, a plurality of groups of first conveying mechanisms 10 are arranged in the first cavity 110 along the vertical direction, and the second conveying mechanism 30 is arranged in the second cavity 120 and is located below the plurality of groups of first conveying mechanisms 10, and an image acquisition component 31 is arranged in the second cavity 120 for detecting the presence of an object on the second conveying mechanism 30, and the second conveying mechanism 30 is configured to start operation when the image acquisition component 31 detects an object.

[0075] In this embodiment, the interior of the cabinet 100 is divided into adjacent first and second cavities 110 and 120. The first cavity 110 is located in the left area of ​​the cabinet 100 and is used to accommodate multiple groups of first conveying mechanisms 10; the second cavity 120 is located in the right area of ​​the cabinet 100 and is provided with a second conveying mechanism 30 and an image acquisition component 31. This partition design can realize orderly storage, automatic conveyance, and intelligent monitoring of the items 11.

[0076] Specifically, multiple groups of first conveying mechanisms 10 are arranged in layers along the vertical direction in the first cavity 110. In this embodiment, three groups of first conveying mechanisms 10 (i.e., chain plate conveyor lines) are arranged in the first cavity 110, and each group has two first conveying mechanisms 10, which can be used to store different types of articles 11. This layered design makes full use of the vertical space of the cabinet 100 and significantly improves the storage capacity. At the same time, the arrangement of multiple groups of first conveying mechanisms 10 also enables the vending device to provide storage and sales services for multiple articles 11 at the same time.

[0077] The second conveying mechanism 30 is arranged in the second cavity 120, and is specifically a belt conveyor line. The belt conveyor line is located at the lower right of the three groups of first conveying mechanisms 10, and is used to receive the articles 11 released from each group of first conveying mechanisms 10 (chain conveyor line). An image acquisition component 31 is installed in the second cavity 120, and its shooting field of view covers the entire surface of the second conveying mechanism 30. The image acquisition component 31 detects the existence state of the article 11 on the second conveying mechanism 30 by real-time acquisition and analysis of images, and controls the start and stop of the second conveying mechanism 30 accordingly. When the article 11 is released from the front end of the chain conveyor line, it can slide smoothly onto the belt conveyor line under the guidance of the first guide plate 40. After the image acquisition component 31 detects that there is an article 11 on the belt conveyor line, it immediately triggers the drive motor of the belt conveyor line (not shown in the figure) to start and transport the article 11 to the second predetermined position; when the image acquisition component 31 detects that there is no article 11 on the belt conveyor line, it immediately controls to stop the drive motor of the belt conveyor line. According to different application scenarios, the second predetermined position can be a receiving port of the delivery robot 160, or other designated delivery locations. This design ensures the continuity and reliability of the items 11 from storage to output.

[0078] When the user places an order to purchase the item 11 through the terminal, the workflow of the vending device is as follows: the first conveying mechanism 10 of the corresponding layer is controlled to start; the item 11 is conveyed to the front end and released; the item 11 falls to the second conveying mechanism 30 under the action of gravity and the first guide plate 40; the image acquisition component 31 detects the presence of the item 11 on the surface of the second conveying mechanism 30 and triggers the start of the second conveying mechanism 30; the second conveying mechanism 30 conveys the item 11 to the position of the delivery port 154. The whole process is highly automated and does not require manual intervention.

[0079] In this embodiment, in order to prevent the article 11 from deviating during the process of being released from the first conveying mechanism 10 to the second conveying mechanism 30, a baffle 121 is further provided on the upper side of the second cavity 120 away from the first conveying mechanism 10. The baffle 121 is mainly used to prevent the article 11 released by the first conveying mechanism 10 from crossing the belt conveyor line and falling into the cabinet 100. In other words, the baffle 121 can ensure that the article 11 released from each group of the first conveying mechanism 10 accurately falls on the second conveying mechanism 30.

[0080] The left-right partitioned and layered structural design of the present embodiment has the following advantages: by vertically arranging multiple groups of first conveying mechanisms 10 in layers, the space of the cabinet 100 is utilized to the maximum extent; the first cavity 110 on the left is responsible for the storage and conveyance of the items 11, and the second cavity 120 on the right is responsible for the transmission and monitoring of the items, with a clear division of labor; the gravity-guided baffle 121 is used to limit the position, and the intelligent monitoring of the image acquisition component 31 is used to ensure that the items 11 can be accurately and smoothly transferred from the upper layer to the lower layer and delivered reliably.

[0081] In this embodiment, the image acquisition component 31 is used to detect the presence status of objects on the belt conveyor line in real time, and the start and stop of the belt conveyor line is controlled accordingly, which has the following technical effects: first, through real-time detection and control, the on-demand operation of the belt conveyor line is realized, and the energy waste caused by no-load operation is avoided; secondly, since the arrival and departure status of objects can be sensed in time, the timeliness and continuity of the object transportation are ensured, and the transportation efficiency is improved; thirdly, this intelligent control method reduces the ineffective operation time of the belt conveyor line, extends the service life of the equipment, and reduces maintenance costs.

[0082] The vending device of the embodiment of the present invention realizes the storage, release and continuous conveyance of the article 11 by combining the first conveying mechanism 10 and its components with the second conveying mechanism 30, and combining the intelligent monitoring function of the image acquisition component 31. Among them, the first conveying mechanism 10 and its components are responsible for the storage and directional release of the article 11, the image acquisition component 31 is responsible for the presence detection of the article 11 on the second conveying mechanism 30, and the second conveying mechanism 30 is responsible for conveying the released article 11 to the (second) predetermined position. This design is not only structurally reasonable, but also reliable in operation, and is particularly suitable for providing 24-hour self-service vending services in places such as hotels.

[0083] like Figure 2 and Figure 8 As shown, in one embodiment, a plurality of slide rail assemblies are arranged in the vertical direction in the first cavity 110, and each slide rail assembly includes: slide rails 131 arranged opposite to each other; a slide plate 132 slidably connected to the slide rails 131, and a sliding path of the slide plate 132 extends along the front and rear direction of the cabinet 100; and each group of first conveying mechanisms 10 is respectively arranged on the corresponding slide plate 132.

[0084] On the basis of the above-mentioned embodiment, in order to facilitate maintenance and replenishment of the first conveying mechanism 10 , in this embodiment, a slide rail assembly is arranged between the first conveying mechanism 10 and the cabinet 100 so that each group of the first conveying mechanism 10 can be pulled out from the first cavity 110 .

[0085] Specifically, the slide rail assembly includes slide rails 131 spaced apart from each other on the left and right sides and a slide plate 132 between the slide rails 131. The slide plate 132 slides in a front-to-back direction, wherein sliding forward means approaching the front side of the cabinet 100, and sliding backward means approaching the rear side of the cabinet 100. A support column 51 is fixed to the bottom of the base 50 of the first conveying mechanism 10, and the support column 51 is fixedly connected to the slide plate 132. By moving the slide plate 132 forward a certain distance, the first conveying mechanism 10 thereon can be pulled out of the cabinet 100, so as to facilitate related operations, such as sorting or replenishing the items 11 on the first conveying mechanism 10.

[0086] This pull-out design has the following effects in actual use: when the first conveying mechanism 10 needs to be replenished with items 11, the staff can pull it out and conveniently place the items 11 on the first conveying mechanism 10 without bending over and leaning into the cabinet 100 to operate; when the first conveying mechanism 10 fails and needs maintenance, it can be pulled out to the outside of the cabinet 100 for inspection, so that the maintenance personnel can better observe and operate, thereby improving the maintenance efficiency; when it is necessary to adjust the position of the first limit member 20 or the second limit member 60 to accommodate items 11 of different specifications, the first conveying mechanism 10 can also be pulled out for adjustment, which is more convenient to operate.

[0087] The design of the slide rail assembly improves the maintainability and operational convenience of the vending device. The staff can easily pull out the first conveying mechanism 10 of any layer for maintenance, replenishment or adjustment according to actual needs without complicated disassembly and assembly process, which greatly improves the use efficiency and maintenance efficiency of the vending device.

[0088] like Figure 2 , Fig. 9 and Fig.10 As shown, in one embodiment, a guide assembly 140 is provided at one end of the second conveying mechanism 30, and the guide assembly 140 includes: a second guide plate 141; a driving mechanism 142 for driving the second guide plate 141 to switch between a storage position and a guiding position; the second guide plate 141 is used to dock with the receiving port of the delivery robot 160 in the guiding position.

[0089] Based on the above-mentioned embodiment, the vending device of this embodiment also includes a delivery robot 160, and a guide assembly 140 is provided at the front end of the second conveying mechanism 30 (i.e., the end close to the front side of the cabinet 100), and the guide assembly 140 is configured to be able to dock with the receiving port of the delivery robot 160.

[0090] Specifically, the guide assembly 140 includes a second guide plate 141 and a driving mechanism 142 for driving the second guide plate 141 to switch between the storage position and the guide position. The second guide plate 141 is installed at the front edge of the second conveying mechanism 30 by means of a hinge, so that it can rotate around the hinge to achieve unfolding and folding. When the delivery robot 160 reaches the designated position on the front side of the cabinet 100, the second guide plate 141 can be unfolded and docked with the receiving port of the delivery robot 160, providing a continuous guide channel for the delivery of the article 11.

[0091] In a specific embodiment, the driving mechanism 142 adopts a chain driving structure (not shown in the drawings), which mainly includes: a driving motor, which is a DC motor and is fixedly installed in the cabinet 100; a gear set, which is connected to the output shaft of the driving motor and is used to reduce speed and increase torque; a chain and sprocket assembly, which converts the rotational motion of the driving motor into the telescopic motion of the chain; an articulated seat, through which the end of the chain is connected to the second guide plate 141; a limit switch, which is used to detect the position status of the second guide plate 141; a controller, which receives the signal of the limit switch as well as the pickup signal and the pickup completion signal, so as to control the operation of the driving motor.

[0092] The working process of the driving mechanism 142 is as follows: after receiving the authorized pickup signal (such as the arrival signal of the delivery robot 160 or the user payment signal), the controller controls the driving motor to run forward, drives the sprocket assembly to rotate through the gear set, and makes the chain extend to push the second guide plate 141 to rotate outward. When the second guide plate 141 is unfolded to a predetermined angle (for example, 30 degrees), the limit switch is triggered, and at this time, the second guide plate 141 is docked with the receiving port of the delivery robot 160 to form a downwardly inclined conveying channel. The second conveying mechanism 30 can deliver the article 11 on it to the conveying channel, and the article 11 can slide into the receiving port of the delivery robot 160 through the conveying channel. After receiving the signal (from the delivery robot 160) that the pickup is completed, the controller controls the driving motor to reverse, and the chain shrinks to drive the second guide plate 141 to rotate inward until the second guide plate 141 returns to the vertical position to trigger another limit switch, and the controller stops the driving motor to complete the entire storage process.

[0093] Through this signal feedback-based workflow, it can be ensured that: the second guide plate 141 is only deployed when a pickup request is received; the second guide plate 141 is stored only after the pickup is confirmed to be completed. After the second guide plate 141 is stored, it is located between the cabinet 100 and the automatic door 153 to prevent unauthorized operation.

[0094] At the same time, this design also realizes seamless connection between the vending device and the delivery robot 160, making the entire delivery process of the item 11 more automated. The deployable guide assembly 140 solves the problem of the handover of the item 11 between the vending device and the delivery robot 160, ensuring that the item 11 can be safely and accurately delivered to the delivery robot 160.

[0095] In this embodiment, the second guide plate 141 has two working positions: a storage position, in which the second guide plate 141 is completely folded and located in the space between the cabinet body 100 and the automatic door 153, and is in a vertical state; a guiding position, in which the second guide plate 141 is unfolded and docked with the receiving port of the delivery robot 160 to form a downward-sloping slide, and is in an inclined state.

[0096] like Figure 10-12 As shown, in one embodiment, a door panel assembly 150 is provided on the front side of the cabinet body 100, and the door panel assembly 150 includes: a cabinet door 151, on which a delivery port 154 is provided; a door track 152 provided on the cabinet door 151; and an automatic door 153 slidably connected to the door track 152, wherein the automatic door 153 is configured to be able to be closed to cover the delivery port 154 when the second guide plate 141 is in the storage position.

[0097] On the basis of the above-mentioned embodiment, in order to improve the safety of the vending device when used in a public place, the present embodiment is provided with a door panel assembly 150 at the front side of the cabinet 100. The door panel assembly 150 includes a cabinet door 151, a door rail 152 and an automatic door 153. The cabinet door 151 is provided with a delivery port 154, which is used for delivering the articles 11; the door rail 152 is fixedly installed at the rear side of the cabinet door 151, and the automatic door 153 is connected to the door rail 152 by sliding fit.

[0098] Specifically, the automatic door 153 is in the form of an electric sliding door, which can completely cover the delivery port 154 on the cabinet door 151 in the closed state to protect the safety of the internal items 11. When the automatic door 153 needs to be opened, the automatic door 153 moves sideways along the door track 152 to expose the delivery port 154, and at this time, the second guide plate 141 stored behind the door is deployed under the drive of the driving mechanism 142 and corresponds to the position of the delivery port 154. When the delivery of the items 11 is completed, the second guide plate 141 is folded back under the drive of the driving mechanism 142, and then the automatic door 153 is closed to re-cover the delivery port 154, and the whole process is automatically completed.

[0099] When the vending device is in standby mode, the second guide plate 141 remains in a vertical state and the automatic door 153 is closed, and the items 11 in the cabinet 100 cannot be accessed from the outside. Only when an authorized pickup signal (such as a delivery robot 160 arrival signal or a user payment signal) is received, the automatic door 153 will open and the second guide plate 141 will unfold, ensuring that the items 11 can only be output through normal channels.

[0100] In this embodiment, the opening and closing process of the door panel assembly 150 is as follows: after receiving the authorized pickup signal, the validity of the signal is verified; after the verification is passed, the automatic door 153 opens to the side; the second guide plate 141 is unfolded from the space between the automatic door 153 and the cabinet 100 under the action of the driving mechanism 142; the second guide plate 141 is docked with the receiving port of the delivery robot 160 to transfer the item 11; after the transfer of the item 11 is completed, the second guide plate 141 is folded and retracted under the action of the driving mechanism 142; the automatic door 153 is closed, shielding the folded second guide plate 141 inside, and restoring to the initial state.

[0101] This design achieves safe control of the vending process through the coordinated work of the automatic door 153 and the guide assembly 140. When there is no need to pick up the goods, the automatic door 153 always remains closed, effectively preventing the theft of the items 11 or other unauthorized operations, thereby improving the safety of the vending device in public places. At the same time, through the linkage with the guide assembly 140, the smooth process of picking up the goods is also ensured.

[0102] like Fig.13 As shown, corresponding to the above vending device, an embodiment of the present invention further provides a control method of a vending device, which is applied to a vending device as in any of the above embodiments. The control method includes the following steps S100 to S400:

[0103] S100: Receive a shopping order from a user.

[0104] Specifically, the vending device receives shopping order information sent by the user through the terminal, and the order information includes information such as the type and quantity of the items 11 required by the user.

[0105] S200, determining the first conveying mechanism 10 where the item 11 to be released is located according to the shopping order.

[0106] Specifically, the first conveying mechanism 10 where the target item 11 is located is determined according to the order information. Since multiple groups of first conveying mechanisms 10 are provided in the first cavity 110 of the vending device, and each group of first conveying mechanisms 10 is used to store different types of items 11, the device will determine which group of first conveying mechanisms 10 the item 11 is stored in according to the item 11 information in the order.

[0107] S300, controlling the first conveying mechanism 10 to operate so as to convey the object 11 to a first predetermined position and release it.

[0108] Specifically, the device controls the first conveying mechanism 10 storing the target object 11 to start operating, so that the object 11 in the storage space moves accordingly. When the object 11 reaches the first predetermined position (i.e., the front end of the first conveying mechanism 10), the chain plate 13 turns at this point, so that the storage space originally formed by the two adjacent first limit members 20 gradually opens, and the object 11 is released from the storage space under the action of gravity.

[0109] S400 , after detecting that the second conveying mechanism 30 has received the article 11 , convey the article 11 to a second predetermined position for release.

[0110] Specifically, after the article 11 is released from the first conveying mechanism 10, it slides along the first guide plate 40 to the second conveying mechanism 30 below. When the image acquisition component 31 detects the article 11 on the surface of the second conveying mechanism 30, it immediately triggers the second conveying mechanism 30 to start operation and conveys the article 11 to the second predetermined position for release. When the image acquisition component 31 detects that the article 11 has left the second conveying mechanism 30, it controls the second conveying mechanism 30 to stop operating. Here, the second predetermined position is the receiving port of the delivery robot 160. This intelligent control method based on image detection ensures the timeliness of the conveying process of the article 11 and the energy saving of the equipment operation.

[0111] Through the above basic control steps, this embodiment realizes a fully automated process from receiving an order to shipping the item 11. The control method adopts a step-by-step and stage-by-stage processing strategy to make the entire sales process proceed in an orderly manner, and the steps are closely connected to ensure the continuity and reliability of the delivery of the item 11.

[0112] This embodiment establishes a positioning mechanism for items 11 based on order information. By analyzing and processing the order information, the first conveying mechanism 10 where the target item 11 is located can be accurately positioned, effectively avoiding the problem of incorrect positioning of the item 11 and confusion in picking up the item 11. At the same time, the design of multiple sets of first conveying mechanisms 10 enables the vending device to store multiple types of items 11 at the same time, greatly improving the utilization rate of the space in the cabinet 100 and the service capacity of the vending device.

[0113] In the release link of the article 11, this embodiment utilizes the structural characteristics of the chain plate conveyor line. When the first conveying mechanism 10 runs to the front turning position, the storage space will open naturally, and the article 11 will be automatically released by gravity. This design not only simplifies the release mechanism, but also improves the reliability of the release action. With the guidance of the first guide plate 40, it is ensured that the article 11 can smoothly transition to the second conveying mechanism 30.

[0114] This embodiment adopts a cooperative working mode of a two-stage conveying mechanism to realize the continuous transmission of the article 11 from the storage position to the shipping position. The first conveying mechanism 10 is responsible for the storage and directional release of the article 11, and the second conveying mechanism 30 is responsible for the final delivery of the article 11. The two are seamlessly connected through gravity guidance. This design not only improves the transmission efficiency, but also reduces the risk of damage to the article 11 during the transmission process.

[0115] like Fig.14 As shown, in one embodiment, specifically for the scenario where the delivery robot 160 picks up goods, the control method further includes the following steps after receiving the user's shopping order:

[0116] S500 , controlling the automatic door 153 to open sideways along the door track 152 .

[0117] Specifically, after receiving the arrival signal of the delivery robot 160 , it is confirmed that the delivery robot 160 has arrived at the designated position; the automatic door 153 is controlled to slide sideways along the door track 152 to provide space for the subsequent deployment of the second guide plate 141 .

[0118] S600 , controlling the second guide plate 141 to rotate from the storage position to a guide position docking with the cargo receiving port of the delivery robot 160 .

[0119] Specifically, the driving mechanism 142 controls the second guide plate 141 to rotate from the storage position (vertical state) to the guide position (inclined state) so as to dock with the receiving port of the delivery robot 160. At this time, the second guide plate 141 forms a downwardly inclined slideway to provide a guide channel for the conveyance of the article 11.

[0120] S700, controlling the second conveying mechanism 30 to convey the article 11 to the receiving port of the delivery robot 160;

[0121] Specifically, after the second guide plate 141 is docked with the cargo receiving port of the delivery robot 160 , the second conveying mechanism 30 starts to operate to convey the article 11 to the second guide plate 141 , and the article 11 slides along the second guide plate 141 into the cargo receiving port of the delivery robot 160 .

[0122] S800, after the object 11 is transported, the guide plate is controlled to rotate to a storage position;

[0123] Specifically, after receiving the pickup completion signal from the delivery robot 160, the guide assembly 140 is controlled to reset, and the drive mechanism 142 is controlled to drive the second guide plate 141 to rotate from the guide position back to the storage position.

[0124] S900, control the automatic door 153 to close.

[0125] Specifically, after the second guide plate 141 is completely stored, the automatic door 153 is controlled to close, so that the second guide plate 141 is blocked in the space between the cabinet 100 and the automatic door 153 .

[0126] Through the above control steps for the delivery robot 160 picking up goods, this embodiment realizes the automatic docking and precise matching between the vending device and the delivery robot 160. The linkage control mechanism of the automatic door 153 and the second guide plate 141 is adopted, and the automatic door 153 is opened and the guide plate is unfolded only after the delivery robot 160 is in place, thereby avoiding unnecessary door opening operations and improving the safety and reliability of the vending device when in use.

[0127] Through the rotatable design of the second guide plate 141 and its docking with the receiving port of the delivery robot 160, this embodiment establishes a stable transmission channel for the items 11. The second guide plate 141 can switch between the storage position and the guide position, which not only saves the space of the cabinet 100, but also can be deployed in time according to the transportation demand of the items 11 to form a downward inclined slideway, and use gravity to assist in the smooth transmission of the items 11.

[0128] This embodiment adopts a closed-loop control strategy based on signal feedback, and realizes the coordinated control of various mechanisms through the coordination of multiple status signals such as the arrival signal and the pickup completion signal of the delivery robot 160. This control strategy ensures the reliability of the delivery process of the item 11 and avoids the item 11 from being stuck or falling due to improper timing coordination.

[0129] In terms of security protection, this embodiment forms a complete protection mechanism by linking the position of the automatic door 153 and the second guide plate 141. When there is no need to pick up the goods, the automatic door 153 remains closed, and the second guide plate 141 is stored in the space between the cabinet 100 and the automatic door 153, which effectively prevents unauthorized operation and external interference, and improves the safety of the vending device in public places. In addition, the entire picking process is fully automated and does not require manual intervention, which is particularly suitable for the application needs of 24-hour self-service vending scenarios.

[0130] like Fig.15 As shown, in one embodiment, the control method further includes the step of detecting the article 11 on the first conveying mechanism 10:

[0131] S1000 , detecting the storage status of the article 11 on the first conveying mechanism 10 .

[0132] Specifically, the presence status of the object 11 on the first conveying mechanism 10 is monitored in real time by a through-beam sensor. This step includes:

[0133] The transmitting end 91 emits a light beam, which can be transmitted through the through hole 21 on the first stopper 20;

[0134] The presence status of the object 11 on the first conveying mechanism 10 is determined based on the signal from the receiving end 92: when the light beam is blocked by the object 11, it indicates that the object 11 exists at that position; when the light beam can be transmitted to the receiving end 92, it indicates that there is no object 11 at that position.

[0135] S1100 , determining whether to perform a replenishment operation according to the storage status of item 11 .

[0136] Specifically, the following is judged based on the detection results of the through-beam sensor:

[0137] When it is detected that there is no more item 11 on the first conveying mechanism 10, a replenishment reminder is sent to the management terminal;

[0138] The operation of the corresponding first conveying mechanism 10 is suspended until the replenishment is completed;

[0139] After receiving the replenishment completion signal, the operation state of the first conveying mechanism 10 is restored.

[0140] Through the above steps of detecting and controlling replenishment of the items 11, this embodiment realizes automatic monitoring of the storage status of the items 11. Through the cooperation of the through-hole 21 on the first stopper 20 and the through-hole 21 on the first stopper 20, the storage status of the items 11 on the first conveying mechanism 10 can be grasped in real time without manual inspection; at the same time, the detection is carried out based on the principle of light beam blocking, which has a simple and reliable structure and will not cause damage to the items 11.

[0141] This embodiment significantly improves the operating efficiency of the vending device. By timely detecting and responding to out-of-stock conditions, it avoids the situation where users find out that there is no stock to sell after placing an order; by automatically suspending the operation of the conveying mechanism when there is no stock, it avoids energy waste caused by idling; it realizes on-demand replenishment and optimizes human resource allocation, which is particularly suitable for use in 24-hour self-service vending scenarios.

[0142] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A vending device, characterized in that: include: A first conveying mechanism, wherein a plurality of first stoppers are arranged at intervals along a conveying direction, and storage spaces for accommodating articles are formed between adjacent first stoppers; a second conveying mechanism, the second conveying mechanism being disposed adjacent to the first conveying mechanism; The first conveying mechanism is used to convey the items in the storage space to a first predetermined position and release the items, and the second conveying mechanism is used to receive the items and convey the items to a second predetermined position for release.

2. The vending device according to claim 1, characterized in that: A plurality of first fixing structures are arranged on the first conveying mechanism at intervals along the conveying direction, and each of the first position-limiting members is detachably connected to a corresponding first fixing structure.

3. The vending device according to claim 1, characterized in that: Also includes: A base, wherein the base is provided with second limiting members which are arranged opposite to each other, and the first conveying mechanism is arranged between the second limiting members; A plurality of second fixing structures are provided on the base in a direction perpendicular to the conveying direction, and each of the second position-limiting members is detachably connected to the corresponding second fixing structure.

4. The vending device according to claim 1, characterized in that: Also includes: A beam sensor, the beam sensor comprising a transmitting end and a receiving end disposed at opposite ends of the first conveying mechanism; A through hole is provided on the surface of the first limiting member, and the light beam emitted by the transmitting end can reach the receiving end through the through hole, so as to detect the presence of the object on the first conveying mechanism.

5. The vending device according to claim 1, characterized in that: Also includes: A cabinet body, wherein the cabinet body has a first cavity and a second cavity arranged adjacent to each other; Among them, multiple groups of the first conveying mechanisms are arranged in the first cavity along the vertical direction, the second conveying mechanism is arranged in the second cavity and is located below the multiple groups of the first conveying mechanisms, and an image acquisition component is arranged in the second cavity to detect the presence of objects on the second conveying mechanism, and the second conveying mechanism is configured to start operation when the image acquisition component detects an object.

6. The vending device according to claim 5, characterized in that: A plurality of slide rail assemblies are arranged in the first cavity along the vertical direction, and each of the slide rail assemblies comprises: Slide rails arranged opposite to each other; A slide plate slidably connected to the slide rail, wherein the slide plate has a sliding path extending along the front-rear direction of the cabinet; Each group of the first conveying mechanisms is respectively arranged on the corresponding slide plate.

7. The vending device according to claim 6, characterized in that: A guide assembly is provided at one end of the second conveying mechanism, and the guide assembly comprises: a second guide plate; a driving mechanism for driving the second guide plate to switch between a storage position and a guiding position; The second guide plate is used to dock with the receiving port of the delivery robot at the guide position.

8. The vending device according to claim 7, characterized in that: The front side of the cabinet is provided with a door panel assembly, and the door panel assembly includes: A cabinet door, wherein the cabinet door is provided with a delivery port; A door rail provided on the cabinet door; An automatic door is slidably connected to the door rail, and the automatic door is configured to be able to close to cover the delivery port when the second guide plate is located at the storage position.

9. A method for controlling a vending device, applied to the vending device according to any one of claims 1 to 8, characterized in that: The following steps are involved: Receive shopping orders from users; Determine a first conveying mechanism where the items to be released are located according to the shopping order; Controlling the first conveying mechanism to operate so that the article is conveyed to a first predetermined position and released; After detecting that the second conveying mechanism has received the article, the article is conveyed to a second predetermined position for release.

10. The control method according to claim 9, characterized in that: When the second predetermined position is a receiving port of the delivery robot, after receiving the shopping order from the user, the method further includes: Control the automatic door to open sideways along the door track; Controlling the second guide plate to rotate from the storage position to a guide position docking with the receiving port of the delivery robot; Controlling the second conveying mechanism to convey the article to the receiving port of the delivery robot; After the conveyance of the articles is completed, controlling the second guide plate to rotate to the storage position; Control the automatic door to close.

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