RU2533440C1 - Automatic vending machine - Google Patents

Abstract

FIELD: personal use articles.

SUBSTANCE: automatic vending machine includes a body, at least one rack with shelves, a movement and positioning system, at least one commodity movement device, a commodity dispensing device, a control system, a terminal for ordering and paying for commodities; the movement and positioning system includes at least two horizontal guides with a bearing frame installed between them so that to enable sliding; inside the frame there are profiles vertically positioned with bearings attached to them all along their length; inside the frame, a positioning means is installed so that to enable movement with the commodity dispensing device positioned inside it that contains a tray with a rotary roller and a web attached to the tray edge and the roller; the positioning means is equipped with at least one video camera sensor and at least one commodity presence sensor; each shelf of the rack is equipped with a commodity movement device including a body made of a rectangular profile, unclosed on the upper wall so that to form a longitudinal groove wherein a carriage with a pusher is installed so to enable movement; installed on axles inside the body are at least two rotation elements with a cord tensioned between them, connected to the carriage.

EFFECT: increased reliability of positioning of the commodity dispensing and movement device relative to the commodity and increased accuracy and reliability of the commodity transportation from the rack shelf to the commodity dispensing device tray and further dispensing to the customer without detriment to the consumer properties.

21 cl, 11 dwg

Description

The invention relates to vending (vending) machines for the issuance of piece goods.

Known distribution device for piece goods, including a robotic device (robot), equipped with a storage device that interacts with an optical sensor, and a control device for moving the robot. In this switchgear, a special label is used that is installed at each compartment for storing goods, which is detected by an optical sensor mounted on the robot. The robot moves to the product at once stored coordinates. (US Patent No. 6421580, IPC B65G 1/00; B65G 1/04; G07F 11/62; G07F 7/00, published July 16, 2002)

A disadvantage of the known device is: the orientation of the positioning system of the robot relative to the storage location of the goods. Since the device uses special tags (electromagnetic or retroreflective), if the tag is damaged or removed during the loading of goods or equipment repair, the robot will not be able to determine the position of the goods on the shelf and will not be able to accurately position itself for picking up the goods. In addition, this design of the device does not allow precise positioning of the robot in case of shelf sagging due to increased load on the shelf due to the large weight of the product, as well as its straightening as the pressure on the shelf decreases.

Another significant drawback of the device is the method implemented in the device for determining the coordinates of the label, and as a consequence of the location of the goods on the shelf. In the device, in case of losing the coordinate of the mark, or the mark itself, it is possible to sequentially search the coordinates in a given range around the coordinates of the lost mark, which were stored in the memory of the control unit. This sequential enumeration occurs only in a horizontal position, which excludes the possibility of finding the mark in case of its vertical displacement, and is also an unreliable way to determine the coordinate of the mark on the shelf, and as a result leads to the possibility of erroneous determination of the coordinate by the robot. This can lead to non-delivery of the goods, as well as to damage to the structure itself.

A distribution device for piece goods in a vending machine is known, in which the device for dispensing goods is implemented as a system of racks and levers and is fixed between them by means of fasteners of elastic fabric. When receiving goods, the lever is turned so that the distance between the fastening elements is minimal, the elastic fabric forms a space (capacity) for receiving goods. When unloading the goods, the fabric is completely stretched, becomes flat and tilts so that the goods glides on the surface and unloads (US Patent No. 7344050, IPC G07F 11/00, published on March 18, 2008 - prototype).

A disadvantage of the known design is the use of a lever system as a device for dispensing goods with an elastic fabric fixed between the levers. With this embodiment, the design of the device in the process of issuing goods, it is necessary to straighten the fabric, which formed a loop where the goods are located. When straightening, the product is given acceleration, the result of which may be damage to the goods and failure of the device.

The technical problem to be solved by the claimed invention is aimed at increasing the reliability of the positioning system of the movement of goods (robot) relative to the goods and increasing the accuracy and reliability of transporting goods from the shelf of the rack to the basket of the robot and its further delivery to the client without compromising its consumer properties.

The stated technical problem is solved in that in a vending machine including a housing, at least one rack with shelves, a movement and positioning system, at least one device for moving goods, a device for dispensing goods, a control system, an order and payment terminal, according to the proposed invention, the system of movement and positioning includes at least two horizontal guides and mounted between them with the possibility of sliding bearing frame with vertically placed inside it profiles, with bearings mounted on them along the entire length, in which the positioning means is installed with the ability to move the goods dispenser located inside, containing a tray with a rotating roller and a web fixed to the edge of the tray and the roller, the positioning means is equipped with at least one sensor - a video camera and at least one sensor for the availability of goods, each shelf of the rack is equipped with a device for moving goods, including a housing made of a rectangular profile, open about the upper wall with the formation of a longitudinal groove, in which a carriage with a pusher is mounted with the possibility of movement, at least two rotation elements are mounted on the axes in the housing, with a cable stretched between them connected to the carriage.

The claimed invention is characterized by the following additional essential features:

- the housing is made in the form of a frame made of a metal profile;

- the housing is equipped with a system for aligning the housing relative to the base, made in the form of screw supports mounted in the base of the housing;

- at least one rotation element is made in the form of a driven gear;

- at least one rotation element is made in the form of a roller;

- the supporting frame is equipped with an electric motor installed in the lower part of the frame.

- at least one horizontal rail is equipped with electronic sensors for moving the carrier frame mounted on the edges of the rail;

- at least one horizontal rail is equipped with emergency braking dampers installed along the edges of the rail;

- in the rack, the shelves are connected to the racks by means of a detachable lock connection;

- the vending machine is equipped with an electric motor that provides horizontal movement of the supporting frame;

- positioning means is made in the form of a rectangular frame from a metal profile rigidly fastened to each other, to which the rotation drive moving mechanism is mounted movably with the rotation drive motor mounted on it with a rotation element, a lever for tilting the drive moving mechanism to the side of the shelf shelf is attached to the movement mechanism;

- the drive movement mechanism is made in the form of a rectangular metal plate with a beveled angle;

- a lever for tilting the drive movement mechanism is attached on the bevel side;

- the tray of the dispensing device is made in the form of a frame with side walls and a bottom, a rotating roller is fixed on one of the edges of the frame from the side of the rack so that its upper edge is parallel to the opposite edge of the frame and does not protrude beyond it.

- holes are made on the side walls of the tray;

- the goods availability sensor is mounted on the frame of the positioning means coaxially with the holes on the side wall of the tray;

- each device for moving goods installed on the shelf of the rack with the possibility in the working position of the engagement of the rotation element with the rotation element of the dispensing device;

- the supporting frame is equipped with at least one vertical displacement sensor;

- the supporting frame is equipped with at least one means of emergency shutdown of the movement and positioning system;

- the shelves of the rack are made with perforation, while the holes on the front and rear sides of each shelf are placed opposite each other.

- A door is installed between the racks.

The technical result consists in increasing the reliability of the positioning device for issuing goods moving relative to the goods and improving the accuracy and reliability of transporting goods from the shelf of the rack to the tray of the device for dispensing goods and further issuing it to the client without compromising its consumer properties due to the proposed constructive implementation of devices for moving and dispensing goods and providing the interaction of the nodes of the device to automatically detect changes in the coordinates of the goods and automatic adjustments and position dispenser Product

The essence of the technical solution is illustrated by drawings, where

figure 1 shows the rack of the vending machine (side view);

figure 2 shows the rack of the vending machine (front view);

figure 3 presents the appearance of the system for moving and positioning the device dispensing goods (front view);

figure 4 presents the appearance of the positioning system and device dispensing goods (front view);

figure 5 presents the appearance of the positioning system and device dispensing goods (rear view);

figure 6 presents the appearance of the movement system (rear view)

7 shows an example of the placement of the system for moving and positioning the dispensing device in working condition relative to the racking system;

on Fig presents the appearance of the terminal of the vending machine;

figure 9 shows an example of a vending machine;

in Fig.10 shows the mounting unit of the shelf;

11 - shows a device for moving goods.

The vending machine includes a case, racks with shelves, each of which is equipped with a device for moving goods, a device for dispensing goods, a system for moving and positioning a device for dispensing goods, an order and payment terminal for a product, a display case, and a control system.

The casing 54 (Fig.9) of the machine is a steel welded frame made of a metal profile with a system for aligning the casing with the ground. An additional advantage of the case is the ability to install the machine on an unprepared site. In order to prevent uneven weight distribution of the machine, special screw supports are mounted in the base of the housing.

Inside the metal case 54, special heat-insulating panels are installed, which allow to maintain a constant temperature inside the case, which is necessary to fulfill special storage conditions of the goods. The temperature inside the device can be maintained at a level of +2 to +7 degrees Celsius, with a range of changes in external temperature from -35 to +40 degrees Celsius.

Showcases are installed in the case (53, Fig. 9). Behind the display cases, in the lower and upper parts of each, at least 8 shelving lighting fixtures are installed (52, Fig. 9). Four for each rack.

In addition, a payment terminal is installed in the case (40, Fig. 9) with a product delivery window (42, Fig. 8) through which the buyer pays for the goods, gets acquainted with the list of possible device functions, and also receives the purchased goods. The terminal is also equipped with a receipt printer (47, Fig. 8) mounted on the front panel (41, Fig. 8) made of metal, with a window (50, Fig. 8) for installing a security camera with at least two auxiliary keyboards ( 45, Fig. 8) on both sides of the order display (48, Fig. 8), a change delivery window to the customer (43, Fig. 8), as well as a display (49, Fig. 8) for advertising or other purposes.

In the case there are racks 1 with shelves (2, Fig. 9 and Fig. 1), fixed together by a special bracket (9, Fig. 2). This bracket is installed to prevent horizontal movement of the shelving. Also, the racks are attached to the floor with anchor bolts through the bend (4, Fig. 1) on each side of the thrust part. On the upper ends of the side wall of the racks, from the side of the machine wall, side brackets are installed (7, Fig. 2), to which an adjustable tension cable is attached for rigid fixation of the entire rack structure in space. The distance between the racks of the shelves 1 below, to the first shelf, is closed by a metal decorative plate (10, Fig. 1), which serves as an additional stiffener for the rack.

Rigid fastening of racks both in the space inside the machine case and between each other allows you to accurately position the device for dispensing goods relative to the goods. At least four upper longitudinal metal stiffeners (8, Fig. 2) installed in the upper part of each rack, both on the rear and on the front side, were used to strengthen the design of the racks. Between the racks can be installed a door (11, figure 2) made of a metal profile to prevent access to the movement zone of the positioning system and possible damage to staff during its operation. Also, in order to ensure safety, on both sides of the supporting frame (16, Fig. 3), emergency shutdown means for the moving and positioning system are installed, which completely disable the movement of the moving and positioning system along the racks.

The shelf (2, Fig. 10) of the rack is connected to the racks of the rack by means of a detachable lock connection (56, Fig. 10), which allows for its quick replacement, and also clearly positions the shelf in space. For quick change and accurate positioning of the device for moving goods 11, perforations are made on the shelf 2 along the front and rear sides, the holes (57, Fig. 10) of which are opposite each other.

All goods are located on the shelves (2, Fig. 9) behind the display case (53, Fig. 9). The goods are laid out on the shelves one after another.

Each shelf is equipped with a device for moving goods (3, Fig. 1 and Fig. 11) containing a pusher. Different types of goods (columns) are divided among themselves by a device for moving goods (3, Fig. 1 and Fig. 11).

The pusher (64, 11) is designed to move goods from the shelf to the device for dispensing goods.

In the operating position, the product moving device is engaged with the rotation drive of the product dispensing device and moving the goods to the tray of the product dispensing device.

The device for moving goods 3 includes a housing (63, FIG. 11) made of a rectangular profile open along the upper wall with the formation of a longitudinal groove, at least two rotation elements (29, FIG. 11) mounted on axles in the housing (62 11); a carriage mounted in a longitudinal groove, a metal lever for ending the goods (59, Fig. 11) mounted on a sliding bearing (60, Fig. 11), the force on which is transmitted through the rotation elements (29, Fig. 11). The bearing allows the carriage to slide along the entire length of the groove. A pusher (6, Fig. 11) is attached to the sliding bearing (60, Fig. 11) by two pins (61, Fig. 11), which is installed behind the last item in the column and, acting on it, moves all the products forward to the edge of the shelf (2, Fig. 9). The width of the shoulder of the pusher is equal to the distance between the two moving devices 3. Between the rotation elements, a cable is tensioned, mounted on the carriage.

The rotation elements of the product moving device can be made both in the form of a driven gear (29, Fig. 11) and a roller, respectively, as shown in Fig. 11.

The driven gear and / or roller is made with an annular groove for laying the cable. The cable is laid in an annular groove on the driven gear or roller and fixed in the sliding bearing so that one part of it is rigidly fixed inside the sliding bearing (60, Fig. 11), and the second is looped through fixation through a spring that works both in compression and unclench. This design avoids excessive load on the motor, controls the tension of the cable and does not allow the driven roller or gear to “bite” the cable.

During operation, the moment from the engine is transmitted by means of a gear to the driven gear of the cable drive, the torque of the driven gear pulls the cable by means of friction and through it drives the movable carriage with a pusher fixed to it. The carriage transfers the applied force to the pusher, which easily slides above the surface of the shelf, pushing the goods to the edge of the shelf for subsequent placement in the device for unloading and dispensing goods to the consumer.

The length of the housing of the device for moving goods corresponds to the depth of the shelf (2, Fig. 1 and Fig. 11).

The number of shelving and display cases, as well as terminals, may vary depending on the version of the vending machine

The vending machine is equipped with a moving and positioning system designed for transportation and delivery of goods from the storage location on the rack (Fig. 1 and 2) to the dispensing window (42, Fig. 8) to its customer.

The movement and positioning system includes (Fig. 3), at least two horizontal guides (12 and 17, Fig. 3) and a supporting frame (16, Fig. 3) mounted between them with the possibility of sliding, inside which the device for dispensing goods is installed placed in the positioning means (21, Fig. 4), one of the horizontal guides is equipped with electronic sensors (37, Fig. 5) for moving the carrier frame (16, Fig. 3).

The upper horizontal guide (12, Fig. 3) is rigidly connected to the shelves by the fastening element (5, Fig. 1), the lower horizontal guide (17, Fig. 3) is rigidly connected to the base of the housing of the vending machine.

The advantage of such a fastening of the movement and positioning system is that, with a possible shift of the coordinate axis of the rack, the coordinates of the movement system relative to the rack remain unchanged, which allows accurate positioning of the dispensing device relative to the shelves and goods.

The supporting frame is formed by two rigidly connected vertical guide profiles. The carrier frame is provided with sliding rollers (33, FIG. 6), by which the frame is supported on the upper horizontal displacement profile (12, FIG. 3). The roller (33, Fig. 6) is usually made of plastic with a high coefficient of wear resistance.

At least two plain bearings (34, Fig. 6) are installed in the lower part of the supporting frame (16, Fig. 3), which move along the lower horizontal displacement profile (17, Fig. 3), which is rigidly attached to the base of the housing. As a material for the bearing (34, Fig. 6), plastic with a high coefficient of wear resistance is used.

To connect all devices installed on the supporting frame (16, Fig. 3), a cable is used, laid in a special flexible cable channel (35, Fig. 6).

Figure 3 and 7 schematically shows the principle of movement of the carrier frame (16, figure 3) along the rack system (1, figure 7). For this, an electric motor (18, Fig. 3) is used, installed at the top of the rack system. Moving horizontally is carried out by a belt (13, Fig. 3), to which a carrier frame (16, Fig. 3) is attached through two locks (36, Fig. 6). The belt is fixed along the edges of the shelves by means of two rollers (14, Fig. 3) associated with the horizontal displacement profile (12, Fig. 3). Another roller (14, Fig. 3) is mounted on an electric motor (18, Fig. 3), which is responsible for the horizontal movement of the carrier frame (16, Fig. 3).

In order to prevent the bearing frame (16, FIG. 3) from traveling beyond the dimensions of the rack system, electronic sensors (37, FIG. 5) are installed on the upper profile (12, FIG. 3) that monitor the movement of the carrier frame (16, FIG. 3) ) In case of failure of these sensors, emergency braking dampers are installed along the edges of the rack system (15, Fig. 3). The damper 15 is made in the form of a support with a spring and starts to operate a few millimeters after the carrier frame (16, Fig. 3) goes beyond the dimensions of the rack system (1, Fig. 1).

A positioning means 21 (FIG. 4) is installed with the ability to move in the carrier frame, inside of which a device for dispensing goods is placed.

The device for issuing goods contains a tray (24, Fig. 4), made in the form of a frame with side walls and a bottom, the frame is equipped with a rotating roller mounted on one of the edges of the frame. The frame is made of metal. An elastic web is fixed inside the frame (39, Fig. 4), one edge of the elastic web is rigidly attached to the free edge of the carcass, the second edge of the elastic web is attached to the rotating roller mounted on the edge of the carcass of the tray from the side of the rack (1, Fig. 1)

The rotating roller (25, Fig. 4) is fixed in such a way that its upper edge is parallel to the opposite edge of the frame and does not protrude beyond it.

The roller (25, Fig. 4) is controlled by the main controller of the control device so that at the time of receiving the goods from the shelf, the elastic web (39, Fig. 4) is wound onto the roller (25, Fig. 4) so that the lower part the blade moved away from the metal bottom of the tray (24, FIG. 4) and had minimal sagging with respect to the edges of the tray. In this case, the distance between the product and the bottom of the tray (24, Fig. 4) is reduced, and accordingly, the goods transported from the shelf (2, Fig. 1) gently fit into the tray. After that, the roller (25, Fig. 4) unwinds the web (39, Fig. 4) and the goods gently sink to the bottom of the tray (24, Fig. 4) for its further transportation. When ordering several products at the same time, such a technology for controlling the roller (25, Fig. 4) and the canvas itself (39, Fig. 4) allows you to gently receive fragile goods from the shelf and also gently, due to the deflection of the canvas, to give fragile goods to the buyer, and so thus exclude deformation or damage to the packaging and the product itself.

The movement of the tray (24, Fig. 3) vertically inside the supporting frame (16, Fig. 3) is provided by means of positioning (21, Fig. 4) of the product dispensing device.

The positioning tool (21, Fig. 4) is a rectangular frame made of a metal profile fastened together by fixing angles in three planes (28, Fig. 4). In the lower part, a tray rotation motor (27, Fig. 4) and a control system for positioning means (26, Fig. 4) are installed.

The positioning tool moves along two profiles (23, Fig. 4), vertically mounted inside the carrier frame (16, Fig. 3) using eight bearings (22, Fig. 4) made in the form of rollers that are installed on both sides of each profile (23, Fig. 4) and are spaced as much as possible over the entire height of the frame, practically over its entire length, in order to prevent the frame of the positioning means from oscillating during movement. In order to accurately determine the place of unloading of goods, and also, so that the positioning means (21, FIG. 4) during vertical movement does not go beyond the dimensions of the carrier frame (16, FIG. 3), at least three electronic sensors are installed (38, 5 and 6) vertical movement. To achieve the rigidity of the frame of the positioning means (21, FIG. 4), and as a result of the exact positioning of the product dispensing device relative to the product, the frame is made of a metal profile fastened together by fixing corners (28, FIG. 4) in three planes.

The vertical movement of the frame of the positioning means (21, FIG. 4) is carried out using a cable or belt (13, FIG. 3), which is rigidly attached to the frame of the positioning means (21, FIG. 4) and is driven by an electric motor mounted in the lower parts of the supporting frame (16, Fig. 3).

A mechanism for moving a rotation drive (32, FIG. 5) is also installed on the frame of the positioning means, on which is located a rotation drive motor (30, FIG. 5) with a rotation element (29, FIG. 5). The drive movement mechanism (32, FIG. 5) is a rectangular metal plate with a beveled angle attached to the frame of the positioning means (21, FIG. 4) through a bearing that allows the mechanism to be moved around the axis of the bearing. On the side of the bevel, a lever (55, Fig. 5) is attached to the movement mechanism (32, Fig. 5), which, in turn, tilts the entire mechanism towards the shelf (2, Fig. 1) of the rack (1, Fig. 1) .

At least one sensor-video camera is installed on the positioning means, which provides accurate positioning of the tray of the device for dispensing goods relative to the shelf and the goods. An additional advantage of using a video camera sensor when determining the coordinates of a product dispensing device is a system of visual recognition of the stopping place of the positioning means of the product dispensing device, which allows for maximum positioning accuracy.

The initial coordinates of all the shelves and the pushers installed on them (3, Fig. 1) are determined by automatically scanning the entire space of the rack (1, Fig. 1) using a video camera sensor. After that, the coordinates of each shelf (2, Fig. 1) and each device for moving goods (3, Fig. 1) are entered into the database of the control device. The coordinate of the goods into which the tray needs to be moved (24, Fig. 4) is read from the database of the control device. Thus, initially the tray (24, Fig. 4) moves to the product according to the stored coordinates. In the specified coordinate, an additional coordinate correction is enabled as follows: The video camera sensor (31, Fig. 5) reads the mark located under or on the product moving device (3, Fig. 1), and in case of coordinate deviation corrects the position of the tray (24, Fig. .3) with respect to this label. The label may be the case of the device for moving goods, but there may be other options for placing labels.

The presence in the inventive vending machine separately of electric motors for moving the supporting frame (16, FIG. 3) and the frame of the positioning means (21, FIG. 4) solves the problem of diagonal movement of the device for dispensing goods to a given point at the rack.

After the tray (24, FIG. 4) moves to a predetermined storage location of the goods on the shelf, the lever (55, FIG. 5) shifts the movement mechanism (32, FIG. 5) and tilts the tray (24, FIG. 4) in side of the shelf (2, FIG. 1) until the rotation elements (29, FIG. 5 and FIG. 11) of the product moving device and the product dispensing device engage. Next, the motor (30, Fig. 5) of the rotation drive (30, Fig. 5) is turned on, and the pusher (64, Fig. 11) moves the goods lying on the shelf into the tray (24, Fig. 4). After that, the rotation drive (30, Fig. 5) is turned on in the opposite direction and retracts the pusher (64, Fig. 11) so as to exclude possible pressure on the goods.

At least one sensor (19, Fig. 5) for the presence of goods in the tray is mounted on the frame of the positioning means (21, FIG. 4). In a preferred embodiment, two sensors for the presence of goods in the tray are installed. The sensors (19, Fig. 5) are arranged in such a way that they control the receiving plane of the tray (24, Fig. 4), turned to the position of receiving goods from the shelf. Opposite the sensors, special holes are made on the walls of the tray, which are aligned with the sensors (19, Fig. 5) and are almost at the same level with the receiving plane of the tray. (24, Fig. 4). The first sensor (19, Fig. 5) controls the line of "transition" of goods from the shelf (2, Fig. 1) to the tray (24, Fig. 4), the second sensor (19, Fig. 5) is installed opposite the middle of the receiving plane of the tray (24, FIG. 4) and duplicates the readings of the first sensor. This installation of sensors allows you to determine the goods of any size, trapped in the tray.

After the goods have moved to the tray, the sensors for the availability of goods in the tray (19, Fig. 5) detect the presence of goods in the tray, the drive motor for moving the goods (30, Fig. 5) stops, the tray (24, Fig. 4) takes a vertical the position and the supporting frame (16, Fig. 3) moves to the terminal (40, Fig. 9), and the frame of the positioning means (21, Fig. 4) moves the tray (24, Fig. 4) with the goods to the goods dispensing window (42 , Fig. 8). The lever (55, Fig. 5) moves the movement mechanism (32, Fig. 5) and tilts the tray (24, Fig. 4) towards the product delivery window (42, Fig. 8), and at the same time, the roller (25, Fig. 5) .4) the dispenser begins to rewind the fabric. As a result, the goods gently moves from the tray (24, Fig. 4) to the dispensing window (42, Fig. 8). The window for issuing goods is rotated towards the buyer, after which the purchased goods become available.

The vending machine operates as follows.

The tray (24, Fig. 4) of the product dispensing device moves freely between the shelves of the rack (2, Fig. 9) and the product dispensing window (42, Fig. 8) both in the horizontal and vertical directions. The horizontal direction is provided by the carrier frame (16, FIG. 3) of the movement system, and the vertical direction is provided by the positioning means (21, FIG. 4) of the product dispenser. With simultaneous horizontal and vertical movement, the tray (24, Fig. 4) moves diagonally.

The selection of goods is carried out using the keyboard (44, Fig. 8) or by direct selection on the display (48, Fig. 8).

After selecting one or a group of products, the display shows the sales order and price. After which payment is made. Payment can be made in any way, for example: coins, banknotes or credit cards, through payment systems (46, Fig. 8) installed on the terminal.

After payment is made, the goods (51, Fig. 9) from the compartment corresponding to the order enter the tray (24, Fig. 4) of the device for dispensing goods, after which they are transported to the terminal (40, Fig. 8) and delivered to the client through the dispatch window (42, Fig. 8).

Claims (21)

1. A vending machine, comprising a housing, at least one rack with shelves, a system for moving and positioning, at least one device for moving goods, a device for dispensing goods, a control system, an order and payment terminal, characterized in that the moving system and positioning includes at least two horizontal guides and a sliding frame mounted between them with the possibility of sliding with profiles vertically placed inside it, with bearings fixed to them along the entire length, in With the help of a device, positioning means is installed with the ability to move the goods dispensing device located inside, containing a tray with a rotating roller and a web fixed to the edge of the tray and the roller, the positioning means is equipped with at least one video camera sensor and at least one goods presence sensor , each shelf of the rack is equipped with a device for moving goods, including a housing made of a rectangular profile, not closed along the upper wall with the formation of a longitudinal groove, in which The carriage with a pusher is installed with a moving feature, at least two rotation elements are installed in the axle housing in the housing, with a cable stretched between them and connected to the carriage. 2. The vending machine according to claim 1, characterized in that the housing is made in the form of a frame made of a metal profile. 3. The vending machine according to claim 2, characterized in that the housing is equipped with a housing alignment system relative to the base, made in the form of screw supports mounted in the base of the housing. 4. The vending machine according to claim 1, characterized in that at least one rotation element is made in the form of a driven gear. 5. The vending machine according to claim 1, characterized in that at least one rotation element is made in the form of a roller. 6. The vending machine according to claim 1, characterized in that the supporting frame is equipped with an electric motor mounted in the lower part of the frame. 7. The vending machine according to claim 1, characterized in that at least one horizontal rail is equipped with electronic sensors for moving the carrier frame mounted on the edges of the rail. 8. The vending machine according to claim 1, characterized in that at least one horizontal rail is equipped with emergency braking dampers installed along the edges of the rail. 9. The vending machine according to claim 1, characterized in that in the rack the shelves are connected to the racks by means of a detachable lock connection. 10. The vending machine according to claim 1, characterized in that it is equipped with an electric motor that provides horizontal movement of the carrier frame. 11. The vending machine according to claim 1, characterized in that the positioning means is made in the form of a rectangular frame made of a metal profile rigidly fastened to each other, to which a rotation drive moving mechanism with a rotation drive motor with a rotation element mounted thereon, is movably attached to the movement mechanism the tilt lever is attached; the drive movement mechanism towards the shelf shelf. 12. The vending machine according to claim 11, characterized in that the drive movement mechanism is made in the form of a rectangular metal plate with a beveled angle. 13. The vending machine according to claims 11 and 12, characterized in that the lever for tilting the mechanism for moving the drive is connected from the bevel side. 14. The vending machine according to claim 1, characterized in that the tray of the dispenser is made in the form of a frame with side walls and a bottom, a rotating roller is fixed to one of the edges of the frame from the side of the rack so that its upper edge is parallel to the opposite edge of the frame and not stands for its limits. 15. The vending machine according to claims 1 and 14, characterized in that the holes are made on the side walls of the tray. 16. The vending machine according to claim 1, characterized in that the product presence sensor is mounted on the frame of the positioning means coaxially with the holes on the side of the tray. 17. The vending machine according to claim 1, characterized in that each device for moving goods is installed on the shelf of the rack with the possibility in the working position of the engagement of the rotation element with the rotation element of the dispenser. 18. The vending machine according to claim 1, characterized in that the supporting frame is equipped with at least one vertical displacement sensor. 19. The vending machine according to claim 1, characterized in that the carrier frame is equipped with at least one means of emergency shutdown of the movement and positioning system. 20. The vending machine according to claim 1, characterized in that the shelves of the rack are made with perforation, while the holes on the front and rear sides of each shelf are located opposite each other. 21. The vending machine according to claim 1, characterized in that a door is installed between the racks.

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