CN104599399B - A kind of cake automatic vending machine and its control method - Google Patents
A kind of cake automatic vending machine and its control method Download PDFInfo
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- CN104599399B CN104599399B CN201510060362.4A CN201510060362A CN104599399B CN 104599399 B CN104599399 B CN 104599399B CN 201510060362 A CN201510060362 A CN 201510060362A CN 104599399 B CN104599399 B CN 104599399B
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/007—Coin-freed apparatus for dispensing, or the like, discrete articles wherein the storage and dispensing mechanism are configurable in relation to the physical or geometrical properties of the articles to be stored or dispensed
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/62—Coin-freed apparatus for dispensing, or the like, discrete articles in which the articles are stored in compartments in fixed receptacles
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Abstract
The invention discloses a kind of cake automatic vending machine and its control method, this vending machine includes casing, warehousing storehouse, mobile system, heap freight house, evaluator and control system；This mobile system includes one and can pick up cake casing or the picking mechanism putting down and the travel mechanism that can drive this picking mechanism movement in three dimensions；This evaluator is arranged on the top of described picking mechanism, its color or image information in order to obtain variety classes cake casing, and by this information transmission to this control system；This control system includes controller, operation interface and the memorizer for storing the positional information of various cakes, the colouring information of cake casing or image information.This vending machine not only can realize the automatic vending of cake, facilitates consumer, can realize the automatic swing of cake using evaluator simultaneously, and businessman need not devote a tremendous amount of time and carry out putting of cake, facilitate businessman.
Description
Technical field
The present invention relates to a kind of vending machine, especially a kind of cake automatic vending machine and its control method.
Background technology
With the raising of people's living standard, cake is more and more popular to people in daily life, but people at ordinary times
When opening the door in cake shop could to shop in buy cake, when cake shop is closed, people just cannot buy cake, and this makes
Obtain people and cannot buy cake when wanting to eat cake at any time.
In prior art, also occur in that various vending machines, such as CN103745531A discloses one kind and " is based on
The fast food automatic vending system of PLC and its application process ", CN203480594U disclose a kind of " Vending Machine article delivery machine
Structure ", CN103871170A disclose " a kind of preservation by low temperature fruit and vegerable Vending Machine ", CN203746156U discloses a kind of " face
Bag Vending Machine ", CN203858704U disclose " a kind of tourism special product Vending Machine " etc..The work of existing vending machine
Principle be mostly setting several be used for placing storage troughs of different goods, recycle various travel mechanisms by the goods in storage trough
Thing moves to outlet, realizes self-service purpose with this.However, existing vending machine all can only realize automatic vending, but
The product that will sell must manually be put, significantly waste the time of businessman.And existing vending machine is not specifically designed for
Cake and design, have much room for improvement.
Content of the invention
The technical problem to be solved be to provide a kind of can automatic vending again can from the cake of movable pendulum goods from
Dynamic vending machine and its control method.
For solving above-mentioned technical problem, the technical solution of the present invention is：
A kind of cake automatic vending machine, including casing, warehousing storehouse, mobile system, heap freight house, evaluator and control system；
This casing at least includes a front facade, and this front facade is provided with shipment window；This warehousing storehouse is arranged on the inner side of described front facade,
It is provided with some warehousing lattice, in order to put a kind of cake being loaded in cake casing in each warehousing lattice；This mobile system includes one
Individual cake casing can be picked up or the picking mechanism putting down and the travel mechanism that this picking mechanism movement in three dimensions can be driven；
This heap freight house is arranged on the side in warehousing storehouse, with stacking the pre- cake sold so that businessman is interim；This evaluator is arranged on described
The top of picking mechanism, its color or image information in order to obtain variety classes cake casing, and this information transmission extremely should
Control system；Described control system is electrically connected with described mobile system and described evaluator, and it includes controller, operation interface
And for storing the memorizer of the positional information of various cakes, the colouring information of cake casing or image information, wherein, operation
Interface is arranged on the outside of facade before casing.
Preferably, described picking mechanism is Pneumatic suction cup.
Preferably, a charging system is set further, and this charging system is arranged on the outside of described front facade, it can be adopted
With coin-feed system or card-punching system.
Preferably, an outloading mechanism is set further, and this outloading mechanism includes one and is arranged on inside described shipment window
Shipment bin and one can drive this shipment bin rotation motor；One of side of this shipment bin is unclosed and forms one
Individual outlet, other face closures；One can be arranged in this shipment bin and can sense the whether removed sensor of cake.
Preferably, described warehousing lattice are symmetric on described shipment window both sides, and are planar arrangement；Described movement
Mechanism is three-axis moving mechanism, and its X-axis translation mechanism and Y-axis elevating mechanism adopt leading screw to coordinate the structure of guide rail, and its Z axis is stretched
Contracting mechanism adopts electric pushrod.
Preferably, described evaluator is color sensor or is photographic head.
Preferably, described controller using PLC or adopts single-chip microcomputer.
Preferably, described operation interface is touch screen or is display screen and guidance panel.
The control method of described cake automatic vending machine includes the stage of selling goods and pendulum goods stage；Described pendulum goods stage bag
Include following steps：
Step（1）, the cake preparing to sell according to type is packaged in cake casing by businessman, and is stacked in heap freight house,
When stacking it may not be necessary to stack by species, and only need to neatly stack；
Step（2）, on push interface from movable pendulum goods button, signal is passed to controller, controller controls and moves
System acting, makes travel mechanism mobile to heap freight house, and sequentially draws cake casing according to the program being previously set；
Step（3）, before drawing a cake casing, obtained colouring information or the image of current cake casing by evaluator
Information, and this information is passed to controller, this information is compared by controller with the cake casing kind of information in memorizer, sentences
Break and plant cake why, transfer the positional information of this kind of cake afterwards again；
Step（4）, after judging to complete, controller controls picking mechanism to draw cake casing, then according to the position judging
Information controls travel mechanism mobile to corresponding warehousing lattice, then controls Pneumatic suction cup to put down cake, completes the pendulum of a cake
Put；
Step（5）, repeat the above steps, all put until all of cake and complete.
The control method of described cake automatic vending machine includes the stage of selling goods and pendulum goods stage；
The described stage of selling goods comprises the steps：
Step（1）, consumer is inserted coins by charging system or swipes the card, and selects required purchase in operation interface simultaneously
Cake, trigger controller works；
Step（2）, controller judge user coin the amount of money or card using information whether be consistent with the price of selected cake, if
Be consistent entrance next step, if not corresponding return to step（1）And point out；
Step（3）, controller according to the species of selected cake transfer in memorizer place this cake positional information, and
Mobile system action according to this positional information controls, makes travel mechanism move to the position at cake place；Then, control
Picking mechanism draws cake casing, continues afterwards to control travel mechanism mobile to outloading mechanism, and so that cake casing is entered from outlet
Enter to inside shipment bin；Control picking mechanism that cake is put in shipment bin again；
Step（4）, after cake is placed in shipment bin, controller controlled motor drives shipment bin rotation 180 degree, makes
Cake rotates to shipment window, and buyer can take cake away；
Step（5）, after the sensor sensing at shipment bin is removed to cake, transmit a signal to controller, control
Device processed controlled motor rotation 180 degree again, one action completes, and controller processes corresponding data and prepares next task；
Step（6）, after cake has been sold, controller control operation interface is made mutually it should be mentioned that paying simultaneously is
System no longer works；
The described pendulum goods stage comprises the steps：
Step（1）, the cake preparing to sell according to type is packaged in cake casing by businessman, and is stacked in heap freight house,
When stacking it may not be necessary to stack by species, and only need to neatly stack；
Step（2）, on push interface from movable pendulum goods button, signal is passed to controller, controller controls and moves
System acting, makes travel mechanism mobile to heap freight house, and sequentially draws cake casing according to the program being previously set；
Step（3）, before drawing a cake casing, obtained colouring information or the image of current cake casing by evaluator
Information, and this information is passed to controller, this information is compared by controller with the cake casing kind of information in memorizer, sentences
Break and plant cake why, transfer the positional information of this kind of cake afterwards again；
Step（4）, after judging to complete, controller controls picking mechanism to draw cake casing, then according to the position judging
Information controls travel mechanism mobile to corresponding warehousing lattice, then controls Pneumatic suction cup to put down cake, completes the pendulum of a cake
Put；
Step（5）, repeat the above steps, all put until all of cake and complete；
Step（6）, setting is bought preferentially, that is, when the pendulum goods stage running into purchase instruction triggers, stops pendulum goods and enters into
Sell goods the stage.
After such scheme, because the present invention has the advantages that：
1st, it is provided with and pushes away freight house and evaluator, businessman only need to be by the cake laying being positioned in cake casing in heap freight house
Interior, only need to need not arbitrarily stack by type classification neat when putting, then cake casing information be obtained by evaluator, by controlling
It is the cake of which kind of class that device judges according to the information prestoring in memorizer, then controls mobile system automatic putting cake to phase
Answer in the warehousing lattice of position, whole process need not manually be put, save the time of businessman.
2nd, the present invention is provided with an outloading mechanism further, when not having shipment, is closed shipment window by shipment bin, goes out
During goods, then rotate shipment bin, its interior cake is rotated to shipment window, so can ensure that the health in vending machine.
In a word, the present invention not only can realize the automatic vending of cake, facilitates consumer, can realize cake simultaneously
Automatic swing, businessman need not devote a tremendous amount of time and carry out putting of cake, facilitate businessman.
Brief description
Fig. 1 is schematic perspective view in terms of inner side for the vending machine of the present invention；
Fig. 2 is front view in terms of inner side for the vending machine of the present invention；
Fig. 3 is the left view of Fig. 2；
Fig. 4 is front view in terms of outside for the vending machine of the present invention（The i.e. rearview of Fig. 3）；
Fig. 5 is the top view of Fig. 2；
Fig. 6 is the theory diagram of the present invention.
Specific embodiment
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings.
Disclosed is a kind of cake automatic vending machine, as shown in Figures 1 to 6, it is the preferable enforcement of the present invention
Example, described cake automatic vending machine includes casing 10, warehousing storehouse 20, mobile system 30, heap freight house 40, evaluator 50 and controls
System 60, can further include charging system 70 and outloading mechanism 80.Wherein：
Described casing 10 is used for separating cargo area and buys area, and it at least includes a front facade 11, when only arranging one
During individual front facade 11, this front facade 11 can be the metope in cake shop.This casing 10 can also be an independent retail kiosk.Should
Front facade 11 is provided with shipment window 12.
Described warehousing storehouse 20 is arranged on the inner side of described front facade 11, and it is provided with some warehousing lattice 21, each warehousing lattice
In order to put a kind of cake being loaded in cake casing of pre- sale in 21, and multiple cakes can be placed in each warehousing lattice 21.
This warehousing storehouse 20 and warehousing lattice 21 shape and arrangement arbitrarily can be arranged according to actual place, the present embodiment, described warehousing
Lattice 21 are symmetric on described shipment window 12 both sides, this symmetrical advantageously reduce the picking time compared with monolateral distribution,
Greatly speed up shipment speed.
Described mobile system 30 includes a picking mechanism 31 that can pick up cake casing or put down and can drive this
The travel mechanism 32 of picking mechanism 31 movement in three dimensions.This picking mechanism 31 is modal can to adopt mechanical gripper,
It is contemplated that cake is softer, cake casing hardness is also limited, cake casing can be flattened using mechanical gripper, therefore this reality
Apply example and adopt Pneumatic suction cup as picking mechanism 31.Described travel mechanism 32 can be realized it is possible to root using various structures
According to the shape pattern design of warehousing storehouse 20 and warehousing lattice 21, such as translation mechanism, elevating mechanism, rotating mechanism etc..This enforcement
Warehousing storehouse 20 described in example and warehousing lattice 20 are because for planar arrangement, therefore described travel mechanism 32 can adopt three-axis moving
Mechanism, its X-axis translation mechanism 321 and Y-axis elevating mechanism 322 can coordinate the structure of guide rail using leading screw, and its Z axis telescopic machine
Structure 323 then adopts electric pushrod, described picking mechanism 31（The present embodiment is Pneumatic suction cup）Then it is arranged on this electric pushrod,
Thus realizing the motion of Pneumatic suction cup front, back, left, right, up, down.
Described heap freight house 40 can be arranged on the side in described warehousing storehouse 20, with stacking pre- sale so that businessman is interim
Cake.
Described evaluator 50 is arranged on the top of described picking mechanism 31, its face in order to obtain variety classes cake casing
Color or image information, and by this information transmission to described control system 60.When different all kinds of cakes are by cake casing
Color to distinguish when, described evaluator 50 can adopt color sensor；And working as different cakes is by cake casing
When outward appearance is to distinguish, described evaluator 50 can be photographic head.
Described control system 60 is electrically connected with described mobile system 30 and described evaluator 50, it include controller 61,
Operation interface 62 and memorizer 63；This controller 61 can adopt PLC, it would however also be possible to employ single-chip microcomputer；This operation interface 62 can
Think touch screen or display screen and guidance panel；This memorizer 63 is used for storing positional information, the egg of various cakes
The colouring information of cake box or image information etc..Described operation interface 62 is arranged on the outside of facade 11 before casing 10；Described
Controller 61 and memorizer 63 be arranged on the inside of casing 10.
In order to realize automatic vending, can charging system 70 be set further, this charging system 70 is arranged on described front vertical
The outside in face 11, it can adopt coin-feed system or card-punching system etc., it would however also be possible to employ the combination of multiple charging systems.
In addition, if shipment window 12 long term open, vending machine internal sanitary may be affected, for this reason, the present invention is further
Increased an outloading mechanism 80, this outloading mechanism 80 include a shipment bin 81 and one this shipment bin 81 can be driven to rotate
Motor 82, this shipment bin 81 is arranged on inside described shipment window 12, and one of side of this shipment bin 81 is unclosed and shape
Become an outlet 83, other face closures.After cake is put in this shipment bin 81 by mobile system 30, control system 60 controls
Motor 82 action, thus driving shipment bin 81 to rotate, makes outlet 83 turn to shipment window 12, consumer just can be taken off cake casing；
And work as cake removed after, controlled motor 82 action again, outlet 83 is rotated back into inside casing 10, makes the envelope of shipment bin 81
Close and face outwardly, such that it is able to close shipment window 12, prevent dust from entering.Further one can be arranged in shipment bin 81
The whether removed sensor of cake can be sensed（In figure is not shown）, to realize automatically controlling of mechanism.
The control method of the present invention is as follows：
Sell goods the stage：
Step（1）, consumer is inserted coins or is swiped the card by charging system 70, selects required purchase in operation interface 62 simultaneously
The cake bought, trigger controller 61 works；
Step（2）, controller 61 judge user coin the amount of money or card using information whether be consistent with the price of selected cake,
If being consistent entrance next step, if not corresponding return to step（1）And point out；
Step（3）, controller 61 according to the species of selected cake transfer in memorizer 63 place this cake position letter
Breath, and mobile system 30 action according to this positional information controls, make travel mechanism 32 move to the position at cake place；
Then, control picking mechanism 31（Pneumatic suction cup）Draw cake casing, continue afterwards to control travel mechanism 32 mobile to outloading mechanism
At 80, and cake casing is made to enter into inside shipment bin 81 from outlet 83；Control Pneumatic suction cup to quit work again, cake is put into
In shipment bin 83；
Step（4）, after cake is placed in shipment bin 83, controller 61 controlled motor 82 drives shipment bin 81 to rotate
180 degree, makes cake rotate to shipment window 12, buyer can take cake away；
Step（5）, after the sensor sensing at shipment bin 81 is removed to cake, transmit a signal to controller
61, controller 61 controlled motor 82 rotation 180 degree again, one action completes, and controller 61 processes corresponding data and prepares next
Task；
Step（6）, after cake has been sold, controller 61 control operation interface 62 is made mutually it should be mentioned that pay simultaneously
Charge system 70 no longer works.
It should be noted that due to charging system（70）And outloading mechanism（80）For inessential setting, therefore when being not provided with
During stream oriented device, above-mentioned steps can be adjusted correspondingly.
In the pendulum goods stage, the present invention, in addition to can realizing automatic vending, can also realize from movable pendulum goods, to reduce businessman
Workload, concrete rate-determining steps are as follows：
Step（1）, the cake preparing to sell according to type is packaged in cake casing by businessman, and is stacked on heap freight house 40
Interior, when stacking it may not be necessary to stack by species, and only need to neatly stack；
Step（2）, on push interface 62 from movable pendulum goods button, signal is passed to controller 61, controller 61 is controlled
Mobile system 30 processed action, makes travel mechanism 32 mobile to heap freight house 40, and sequentially draws egg according to the program being previously set
Cake box, can be order from top to bottom, from the inside to surface；
Step（3）, before drawing a cake casing, obtained colouring information or the figure of current cake casing by evaluator 50
As information, and this information is passed to controller 61, this information is entered by controller 61 with the cake casing kind of information in memorizer 63
Row compares, and is judged as which kind of cake, transfers the positional information of this kind of cake afterwards again；
Step（4）, after judging to complete, controller 61 controls Pneumatic suction cup to draw cake casing, then according to the position judging
Confidence breath controls travel mechanism 32 mobile to corresponding warehousing lattice 21, then controls Pneumatic suction cup to put down cake, completes an egg
The putting of cake；
Step（5）, repeat the above steps, all put until all of cake and complete；
Step（6）, in order to prevent someone during putting cake from will buy cake, it is preferential, that is, that purchase can be set
When the pendulum goods stage running into purchase instruction triggers, stop pendulum goods and enter into the stage of selling goods.
The above, be only presently preferred embodiments of the present invention, not the technical scope of the present invention imposed any restrictions,
Therefore the change that in every case claim under this invention and description are done or modification, all should belong to the scope that patent of the present invention covers
Within.
Claims (14)
1. a kind of cake automatic vending machine it is characterised in that：Including casing（10）, warehousing storehouse（20）, mobile system（30）, heap goods
Storehouse（40）, evaluator（50）And control system（60）；This casing（10）At least include a front facade（11）, this front facade sets
There is shipment window（12）；This warehousing storehouse（20）It is arranged on the inner side of described front facade, it is provided with some warehousing lattice（21）, each warehousing
In order to put a kind of cake being loaded in cake casing in lattice；This mobile system（30）Cake casing can be picked up including one or put down
Picking mechanism（31）And the travel mechanism of this picking mechanism movement in three dimensions can be driven（32）；This heap freight house（40）If
Put in warehousing storehouse（20）Side, with stacking the pre- cake sold so that businessman is interim；This evaluator（50）Take described in being arranged on
Cargo aircraft structure（31）Top, its color or image information in order to obtain variety classes cake casing, and by this information transmission extremely
This control system（60）；Described control system（60）With described mobile system（30）And described evaluator（50）Electrical connection, its
Including controller（61）, operation interface（62）And for store the positional information of various cakes, the colouring information of cake casing or
The memorizer of person's image information（63）, described operation interface（62）It is arranged on casing（10）Front facade（11）Outside.
2. a kind of cake automatic vending machine according to claim 1 it is characterised in that：Described picking mechanism（31）For gas
Dynamic sucker.
3. a kind of cake automatic vending machine according to claim 1 it is characterised in that：One charging system is set further
（70）, this charging system is arranged on described front facade（11）Outside.
4. a kind of cake automatic vending machine according to claim 1 it is characterised in that：One outloading mechanism is set further
（80）, this outloading mechanism includes one and is arranged on described shipment window（12）The shipment bin of inner side（81）And one can drive this to go out
The motor of freight house rotation（82）；One of side of this shipment bin is unclosed and forms an outlet（83）, other faces are sealed
Close.
5. a kind of cake automatic vending machine according to one of claim 1-4 it is characterised in that：Described warehousing lattice（21）
In described shipment window（12）Both sides are symmetric, and are planar arrangement；Described travel mechanism（32）For three-axis moving mechanism,
Its X-axis translation mechanism（321）And Y-axis elevating mechanism（322）Coordinate the structure of guide rail using leading screw, and its Z axis telescoping mechanism
（323）Using electric pushrod.
6. a kind of cake automatic vending machine according to one of claim 1-4 it is characterised in that：Described evaluator（50）
For color sensor or be photographic head.
7. a kind of cake automatic vending machine according to one of claim 1-4 it is characterised in that：Described controller（61）
Using PLC or adopt single-chip microcomputer.
8. a kind of cake automatic vending machine according to one of claim 1-4 it is characterised in that：Described operation interface
（62）For touch screen or be display screen and guidance panel.
9. a kind of cake automatic vending machine according to claim 3 it is characterised in that：Described charging system is using coin system
System or card-punching system.
10. a kind of cake automatic vending machine according to claim 4 is it is characterised in that also set up one in described shipment bin
The whether removed sensor of cake can be sensed.
A kind of control method of the 11. cake automatic vending machines according to one of claim 1-8 is it is characterised in that include selling
Goods stage and pendulum goods stage；The described pendulum goods stage comprises the steps：
Step（1）, the cake preparing to sell according to type is packaged in cake casing by businessman, and is stacked on heap freight house（40）Interior；
Step（2）, push interface（62）On from movable pendulum goods button, signal is passed to controller（61）, controller control
Mobile system（30）Action, makes travel mechanism（32）Move to heap freight house（40）, and sequentially inhaled according to the program being previously set
Take cake casing；
Step（3）, before drawing a cake casing, by evaluator（50）Obtain colouring information or the image of current cake casing
Information, and described colouring information or image information are passed to controller（61）, controller is by described colouring information or image
Information and memorizer（63）Interior cake casing kind of information is compared, and is judged as which kind of cake, transfers this kind of cake afterwards again
Positional information；
Step（4）, after judging to complete, controller（61）Control picking mechanism（31）Draw cake casing, then according to judgement
Positional information controls travel mechanism（32）Move to corresponding warehousing lattice（21）Interior, then control Pneumatic suction cup to put down cake, complete
The putting of one cake；
Step（5）, repeat the above steps, all put until all of cake and complete.
A kind of 12. control methods of cake automatic vending machine according to claim 11 are it is characterised in that described pendulum goods
In the step 1 in stage, it is not necessary to stack by species in stacking process, and only need to neatly stack.
A kind of 13. control methods of cake automatic vending machine according to claim 6 are it is characterised in that include selling goods the stage
And the pendulum goods stage；
The described stage of selling goods comprises the steps：
Step（1）, consumer is by charging system（70）Insert coins or swipe the card, simultaneously in operation interface（62）Upper selection is required to be purchased
The cake bought, trigger controller（61）Work；
Step（2）, controller judge user coin the amount of money or card using information whether be consistent with the price of selected cake, if being consistent
Enter next step, if not corresponding return to step（1）And point out；
Step（3）, controller（61）Species according to selected cake is from memorizer（63）Inside transfer the position letter placing this cake
Breath, and the mobile system according to this positional information controls（30）Action, makes travel mechanism（32）Move to cake place
Position；Then, control picking mechanism（31）Draw cake casing, continue afterwards to control travel mechanism（32）Move to outloading mechanism
（80）Place, and make cake casing from outlet（83）Enter into shipment bin（81）Internal；Picking mechanism is controlled to be put into out cake again
In freight house；
Step（4）, after cake is placed in shipment bin, controller（61）Controlled motor（82）Drive shipment bin rotation 180
Degree, makes cake rotate to shipment window（12）, buyer can take cake away；
Step（5）, work as shipment bin（81）After the sensor sensing at place is removed to cake, transmit a signal to controller
（61）, controller controlled motor again（82）Rotation 180 degree, one action completes, and controller processes corresponding data and prepares next
Task；
Step（6）, after cake has been sold, controller（61）Control operation interface（62）Make mutually it should be mentioned that pay simultaneously
Charge system（70）No longer work；
The described pendulum goods stage comprises the steps：
Step（1）, the cake preparing to sell according to type is packaged in cake casing by businessman, and is stacked on heap freight house（40）Interior；
Step（2）, push interface（62）On from movable pendulum goods button, signal is passed to controller（61）, controller control
Mobile system（30）Action, makes travel mechanism（32）Move to heap freight house（40）, and sequentially inhaled according to the program being previously set
Take cake casing；
Step（3）, before drawing a cake casing, by evaluator（50）Obtain colouring information or the image of current cake casing
Information, and described colouring information or image information are passed to controller（61）, controller is by described colouring information or image
Information and memorizer（63）Interior cake casing kind of information is compared, and is judged as which kind of cake, transfers this kind of cake afterwards again
Positional information；
Step（4）, after judging to complete, controller（61）Control picking mechanism（31）Draw cake casing, then according to judgement
Positional information controls travel mechanism（32）Move to corresponding warehousing lattice（21）Interior, then control Pneumatic suction cup to put down cake, complete
The putting of one cake；
Step（5）, repeat the above steps, all put until all of cake and complete；
Step（6）, setting is bought preferentially, that is, when the pendulum goods stage running into purchase instruction triggers, stops pendulum goods and enters into and sell goods
Stage.
A kind of 14. control methods of cake automatic vending machine according to claim 13 are it is characterised in that described pendulum goods
In the step 1 in stage, it is not necessary to stack by species in stacking process, and only need to neatly stack.
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| CN201510060362.4A CN104599399B (en) | 2015-02-05 | 2015-02-05 | A kind of cake automatic vending machine and its control method |
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| CN201510060362.4A CN104599399B (en) | 2015-02-05 | 2015-02-05 | A kind of cake automatic vending machine and its control method |
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| CN104599399B true CN104599399B (en) | 2017-03-08 |
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| CN106934932A (en) * | 2015-12-30 | 2017-07-07 | 蔡异 | A kind of vending machine picking mechanism suitable for various goods |
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