CN105513211A - Automatic vending machine for freshly-made food and working method thereof - Google Patents
Automatic vending machine for freshly-made food and working method thereof Download PDFInfo
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- CN105513211A CN105513211A CN201510888934.8A CN201510888934A CN105513211A CN 105513211 A CN105513211 A CN 105513211A CN 201510888934 A CN201510888934 A CN 201510888934A CN 105513211 A CN105513211 A CN 105513211A
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- material stock
- vending machine
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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
- G07F11/46—Coin-freed apparatus for dispensing, or the like, discrete articles from movable storage containers or supports
- G07F11/48—Coin-freed apparatus for dispensing, or the like, discrete articles from movable storage containers or supports the storage containers or supports, e.g. magazine, being pivotally mounted
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F13/00—Coin-freed apparatus for controlling dispensing or fluids, semiliquids or granular material from reservoirs
- G07F13/06—Coin-freed apparatus for controlling dispensing or fluids, semiliquids or granular material from reservoirs with selective dispensing of different fluids or materials or mixtures thereof
- G07F13/065—Coin-freed apparatus for controlling dispensing or fluids, semiliquids or granular material from reservoirs with selective dispensing of different fluids or materials or mixtures thereof for drink preparation
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Vending Machines For Individual Products (AREA)
- Control Of Vending Devices And Auxiliary Devices For Vending Devices (AREA)
Abstract
The invention provides an automatic vending machine for freshly-made food and a working method thereof. The automatic vending machine for freshly-made food comprises a vending unit located on a machine body. An operation panel and a taking port are arranged outside the machine body, and a material storage unit, a container storage unit and a sealing unit are arranged inside the machine body. The automatic vending machine for freshly-made food is characterized by further comprising a multi-axis mechanical arm, wherein the tail end of the multi-axis mechanical arm is provided with a grasping part. The material storage unit comprises at least one liquid storage unit and at least one solid storage unit, liquid outputting devices are arranged on the lower portions of the liquid storage units, and solid pushing devices are arranged on the lower portions of the solid storage units. The mechanical arm drives the grasping part to move among the liquid outputting devices, the solid pushing devices, the sealing unit and the taking port. The invention further provides the working method of the automatic vending machine for freshly-made food. By means of the automatic vending machine for freshly-made food and the working method thereof, the automatic fresh making process of food is achieved, the freshness of automatically-vended food is guaranteed, and the taste preference of people is met.
Description
Technical field
The present invention relates to vending machine field, particularly relate to a kind of vending machine of now drink food processed.
Background technology
The life appearing as people of vending machine brings very large convenience, now vending machine very common and total class also get more and more, from initial drink, snacks, petty commodities to box lunch etc.
And existing diet class vending machine, the drink sold or food, be all packaged finished product, only need low-temperature storage, this based food, drink cannot realize on-the-spot allotment or on-the-spot culinary art, cannot meet the demand that part client is partial to food fresh-keeping or taste.In addition, what sell due to existing vending machine is all prepared food, is difficult to guarantee the fresh of food, can not meets the purchasing demand of people.
Summary of the invention
The first object of the present invention is to provide a kind of food vending machine existing processed providing fresh food existing processed.
The second object of the present invention is to provide a kind of method of work of above-mentioned food vending machine existing processed.
For realizing the first above-mentioned object, now food vending machine processed provided by the invention comprises the sales unit be positioned on body; Engine body exterior is provided with guidance panel and gets thing mouth; Internal body is provided with material stock unit, container storage unit and sealing unit, is placed with multiple container in described container storage unit; It is characterized in that, now food vending machine processed also comprises: Multi-shaft mechanical arm, and the tail end arm of Multi-shaft mechanical arm is provided with crawl section; Material stock unit comprises at least one liquid material stock unit and at least one solid material stock unit; Liquid material stock unit bottom is provided with device for output of liquid, and solid material stock unit bottom is provided with solid pusher, and mechanical arm drives crawl section at device for output of liquid, fixing pusher, seals unit and get between thing mouth and move.
From such scheme, owing to being provided with material stock unit in existing food vending machine processed, container storage unit and sealing unit, the crawl section of Multi-shaft mechanical arm captures and extracts the container being positioned at container storage unit out, then drive container to move to according to variety classes food demand and deposit different raw-material liquid material stock unit or solid material stock unit feeding, drive container to move to sealing part again to seal, after move to and get thing mouth end, the process automation existing processed of food, ensure the freshness of the food of automatic vending and meet the selection of people's taste deflection.
Further scheme is, crawl section comprises the first grippers and the second grippers, first grippers and the second grippers are all slidably connected with tail end arm, the inwall cambered surface of the first grippers and the inwall cambered surface of the second grippers are respectively arranged with the first groove and the second groove, and described first groove, described second groove all coordinate with the edge protuberance portion of container is spacing.
Therefore, because the first groove on crawl section and the second groove can play spacing cooperation with the edge protuberance portion of container, realize the constraint of multiple three the direction translation freedoms of container, ensure the stability that crawl section captures container and prevent from getting loose.
Further scheme is, the edge of opening of container storage unit lower end is provided with at least one limited block; Between limited block with container storage unit, hinged and torsion spring is connected, and limited block abuts with the edge of the container be positioned at above limited block.
Therefore, erectting due to container stack deposits in container storage unit, lower vessel portion opening is provided with limited block, due to the deadweight of container, container is connected on limited block, and limited block is can reset components, when after the container that crawl section captures out bottom, limited block resets to the next container of original position and is again connected on resetting block, prevents from dropping, and structure is simple, firm.
Further scheme is, each solid pusher comprises the movable part of a rectangle, and movable part and solid material stock unit are slidably matched, and described movable part front portion is groove, described groove optionally with the open communication of solid material stock unit bottom.
Therefore when the open communication of the groove of movable part and solid material stock unit, solid material drops in groove; After movable part slides relative to solid material stock unit, the upper surface of movable part stops opening, and groove transports the solid material in it, when groove bottom is without supporting surface, solid material in groove falls under gravity, realizing solid material below conveying containers to groove enters in container, realizes solid material and quantitatively to fall and structure is simple, optimization system.
Further scheme is, now food vending machine processed is also provided with ice machine, and mechanical arm drives crawl section to move to below the ice outlet of ice machine.
Further scheme is, is provided with liquid quantity sensor in each liquid material stock unit, and each solid material stock unit is provided with amount of solid sensor.
Therefore liquid material stock unit and solid material stock unit, by the connection of sensor in pc client, obtain real-time surplus and report to the police and block kind selection etc.
Further scheme is that internal body is provided with slide groove, the outside of slide groove with get thing mouth and be communicated with, the inner side of slide groove is inclined upwardly setting from lateral ends.
Therefore the container sealed is transported to slide groove tilts one end by capturing hand, and under Action of Gravity Field, container produces and glides, and arrives and gets thing mouth end.The width of slide groove arranges the rollover that applicable size can prevent liquid food, and structure is simple.
For realizing the second object of the present invention, the invention provides the method for work of an existing food vending machine processed, now food vending machine processed comprises sales unit and is positioned at the guidance panel of engine body exterior and gets thing mouth; Now food vending machine inside processed is provided with material stock unit, container storage unit, sealing unit and Multi-shaft mechanical arm, is placed with multiple container in described container storage unit; The tail end arm of Multi-shaft mechanical arm is provided with crawl section; It is characterized in that: now the method for work of food vending machine processed comprises: sales unit receives Food choice information; Crawl section moves to container storage unit and captures a container; Crawl section conveying containers is to material stock unit place, and food materials add in container by material stock unit; Multi-shaft mechanical arm conveying containers seals to sealing unit, and conveying containers is to getting thing mouth place.
From such scheme, in the original system of vending machine, the main Multi-shaft mechanical arm of the work that arranges, Multi-shaft mechanical arm in order at container storage unit, material stock unit, seal unit and to get between thing mouth the mobile current making realizing food, realize the existing system of food while keeping automatic vending, ensure that the freshness of food meets the requirement of client's taste deflection simultaneously.
Further scheme is, material stock unit comprises at least one liquid material stock unit, is provided with liquid level sensor in liquid material stock unit, and liquid level sensor detects liquid level in described liquid material stock unit and sends warning message lower than during setting value.
Therefore, when in any one liquid material stock unit, liquid residue is less than setting value, the warning information that liquid level sensor sends is sent to the food option containing this type of liquid component in system lock sales unit, and the information of generation is to remote monitoring end, supplements raw material in time.
Further scheme is, material stock unit comprises at least one solid material stock unit; Solid material stock unit is provided with pressure transducer, and pressure transducer detects surplus in solid material stock unit and sends warning message lower than during setting value.
Therefore, when in any one solid material stock unit, solid surplus is less than setting value, the warning information that pressure transducer sends is sent to the food option containing this type of solid constituent in system lock sales unit, and the information of generation is to remote monitoring end, supplements raw material in time.
Accompanying drawing explanation
Fig. 1 is the structural drawing of the existing internal body of food vending machine embodiment processed of the present invention;
Fig. 2 is the STRUCTURE DECOMPOSITION figure of the existing food vending machine embodiment internal body processed of the present invention;
Fig. 3 is the partial enlarged drawing in Fig. 2;
Fig. 4 is the present invention's now partial cross sectional views of solid material stock unit in food vending machine embodiment processed;
Fig. 5 is the present invention's now partial enlarged drawing of container storage unit in food vending machine embodiment processed;
Fig. 6 is the process flow diagram of the existing method of work embodiment of food vending machine processed of the present invention;
Fig. 7 is the process flow diagram of the selection blockage method of food variety in sales unit in the method for work embodiment of the existing food vending machine processed of the present invention.
Below in conjunction with accompanying drawing and reference example, the present invention is described in detail.
Embodiment
Now food vending machine embodiment processed:
Now food vending machine processed of the present invention comprises the part of engine body exterior and the part of internal body.As shown in Figure 1, Fig. 1 is the structural drawing of the part 100 of existing food vending machine internal body processed, body comprises main cabinet 101, main cabinet 101 is provided with multiple accommodated position for placing multiple material stock unit 200, multiple container storage unit 300, sealing unit 400 and ice machine 600.Material stock unit 200 and container storage unit 300 are positioned on the Part I of main cabinet 101, and sealing unit 400 is positioned on the Part II of main cabinet 101 with ice machine 600.
Now the part 100 of food vending machine internal body processed is also provided with Multi-shaft mechanical arm 500, Multi-shaft mechanical arm 500 is arranged at the part 100 Part I common factor place towards face different from Part II of internal body, is convenient to Multi-shaft mechanical arm 500 and drives the crawl section on it to move between different units and shift motion minimizes.
Main cabinet 101 Part I subtend place is provided with slide groove 600, thin-walled protruding intermediate recess in slide groove 600 both sides becomes slide groove, slide groove 600 is from downward-sloping near part 100 end of internal body, and slide groove 600 is horizontally disposed with away from part 100 end of internal body and end is connected with the thing mouth of getting of engine body exterior.
As shown in Figure 2 and Figure 3, Fig. 2 is the STRUCTURE DECOMPOSITION figure of the part 100 of internal body, Fig. 3 is the partial enlarged drawing of Fig. 2, and material stock unit 200 comprises multiple liquid material stock unit 210 and multiple solid material stock unit 220, can ensure the polynary of food variety.Container storage unit 300 is arranged in liquid material stock unit 210 and solid material stock unit 220 side, ensures the minimum stroke of Multi-shaft mechanical arm 500.
Liquid material stock unit 210 lower end is provided with device for output of liquid, and simultaneously liquid material stock unit 210 is provided with level sensor or pressure transducer for detecting liquid residue in it.
Solid material stock unit 220 lower end is provided with solid pusher, and solid material stock unit 220 is provided with pressure transducer for detecting solid surplus in it simultaneously.
The tail end arm of Multi-shaft mechanical arm 500 is provided with crawl section 510, crawl arm 510 comprises the first grippers 511 and the second grippers 512, first grippers 511 and the second grippers 512 are all slidably connected with tail end arm, and the glide direction of the first grippers 511 and the second grippers 512 is contrary, the inwall cambered surface of the first grippers 511 and the second grippers 512 is respectively arranged with the first groove 513 and the second groove 514.When the first grippers 511 is relative with the second grippers 512 in time sliding, both clamp container in acting in conjunction, and the raised brim of container is connected in the first groove 513 and the second groove 514, the freedom of movement of container is limited, and carries out the firm clamping of crawl section 510.
Slide groove 600 is positioned at the side near material stock unit 200, after the container machined is transported to slide groove 600 by crawl section 510, bee-line can be reset to annex close to material stock unit 200, reduces the displacement before Multi-shaft mechanical arm 500 times tasks.
As shown in Figure 4, Fig. 3 is the partial cross sectional views of solid material stock unit 220, the solid pusher that solid material stock unit 220 lower end is arranged comprises the movable part 221 of a rectangle, and movable part 221 is positioned at solid material stock unit 200 lower end and is slidably connected with solid material stock unit 200 and coordinates; The bottom surface be positioned at above movable part 221 of solid material stock unit 200 is provided with an opening, falls for solid; Movable part 221 side is provided with the groove 11 that rectangle is communicated with up and down, and when movable part 221 moves, when groove 11 is just positioned at below the opening of solid material stock unit 200, solid drops in groove 11; When movable part 221 moves again, time below groove 11 without supporting surface, solid just falls because of Action of Gravity Field, as long as container is now positioned at below groove 11 then can realize solid feeding.
As shown in Figure 5, Fig. 5 is the partial enlarged drawing of capacity storage unit 300, and the edge of container storage unit 300 lower openings is provided with limited block 301, container storage unit 300 hinged with limited block 301 and between the two torsion spring be connected.Under the acting force of torsion spring, limited block 301 is flapped toward side, the opening center of circle, carries out spacing stop to the container 700 in opening; When crawl section, 510(Fig. 2 shows) capture container 700 time, grasp force is greater than torsion spring acting force, and container 700 is removed rear movable part 301 and resets rapidly, again carries out spacing stop to next container 700.
The now work of food vending machine processed completes primarily of the feeding of Multi-shaft mechanical arm 500 and transport, and simple and fast, realizes unmanned food processing existing processed.
The now method of work embodiment of food vending machine processed:
With reference to the process flow diagram that Fig. 6, Fig. 6 are the method for work of existing food vending machine processed.During the now worked beginning of food vending machine processed, first to perform step S11, in the sales unit of existing food vending machine engine body exterior processed, select the food variety needed; Certainly, this step comprises coin and moves back coin or other modes of payments in addition.Then start step S12 when system receives Food choice signal, mechanical arm drives the crawl section on it to move to container storage unit place and takes out container and again move; Carry out step S13 again, perform feeding work, container is moved into the unloading position of material stock unit, and the material stock unit food materials of relevant position are sent, and complete feeding.What certain needs were on the rocks can move to ice machine place feeding; Carry out step S14 after feeding work completes, the sealing of container, container passive movement seals to sealing unit, and carry out step S15 after sealing, the crawled portion of container is transported to gets thing mouth, end-of-job.
In addition, material stock unit comprises multiple liquid material stock unit and multiple solid material stock unit, liquid material stock unit being provided with liquid level sensor for food materials surplus in tracer liquid material stock unit, solid material stock unit being provided with pressure transducer for detecting the food materials surplus in solid material stock unit.Certainly, liquid level sensor, pressure transducer can be replaced other types sensor and reach same detection effect.
As shown in Figure 7, Fig. 7 is the process flow diagram of the selection blockage method of food variety in sales unit, and when work starts, step S20 carries out, and sensor detects food materials in material stock unit and whether reaches the height, pressure etc. of sensor settings.If when actual value is equal to or greater than sensor preset value, surperficial food materials surplus is enough, then carry out step S21, and corresponding food display in sales unit is also optional; When actual value is lower than setting value, show that in material stock unit, surplus is not enough, then carry out step S22, system automatic alarm notifies that long-range PC holds prompting manually to add food materials, is blocked by the food option of the food materials comprising corresponding surplus deficiency in sales unit simultaneously; Now add food materials according to step S23, biography device again carries out step S20 and judges food materials surplus, until food materials surplus reaches sensor preset value, then performs step S21.
In addition, Operation system setting has security procedure and the safety installations of Multi-shaft mechanical arm, when Multi-shaft mechanical arm operation irregularity, except the scram button on the engine body exterior of existing food vending machine processed or the urgency on action pane the urgency that option implements Multi-shaft mechanical arm can be stopped stop, and hold supervisory routine to send outside alerting signal to PC, can also by being realized stopping by remote control during mechanical arm operation irregularity.
Finally it is emphasized that; the foregoing is only the preferred embodiments of the present invention; be not limited to the present invention; for a person skilled in the art; the present invention can have various change and change; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. existing food vending machine processed, comprising: be positioned at the sales unit on body; Described engine body exterior is provided with guidance panel and gets thing mouth; Described internal body is provided with material stock unit, container storage unit and sealing unit, is placed with multiple container in described container storage unit;
It is characterized in that, described now food vending machine processed also comprises:
Multi-shaft mechanical arm, the tail end arm of described Multi-shaft mechanical arm is provided with crawl section;
Described material stock unit comprises at least one liquid material stock unit and at least one solid material stock unit;
Described liquid material stock unit bottom is provided with device for output of liquid, described solid material stock unit bottom is provided with solid pusher, described mechanical arm drive described crawl section described device for output of liquid, described fixing pusher, described sealing unit and described in get between thing mouth and move.
2. now food vending machine processed according to claim 1, is characterized in that:
Described crawl section comprises the first grippers and the second grippers, described first grippers and described second grippers are all slidably connected with described tail end arm, the inwall cambered surface of described first grippers and the inwall cambered surface of described second grippers are respectively arranged with the first groove and the second groove, and described first groove, described second groove all coordinate with the edge protuberance portion of described container is spacing.
3. now food vending machine processed according to claim 2, is characterized in that:
The edge of opening of described container storage unit lower end is provided with at least one limited block; Described limited block and torsion spring hinged with described container storage unit is connected, and described limited block abuts with the edge of the described container be positioned at above described limited block.
4. the food vending machine existing processed according to any one of claims 1 to 3, is characterized in that:
Described in each, solid pusher comprises the movable part of a rectangle, and described movable part and described solid material stock unit are slidably matched, and described movable part front portion is groove, described groove optionally with the open communication of described solid material stock unit bottom.
5. the food vending machine existing processed according to any one of claims 1 to 3, is characterized in that:
Described now food vending machine processed is also provided with ice machine, and described mechanical arm drives described crawl section to move to below the ice outlet of described ice machine.
6. the food vending machine existing processed according to any one of claims 1 to 3, is characterized in that:
Be provided with liquid quantity sensor in liquid material stock unit described in each, described in each, solid material stock unit is provided with amount of solid sensor.
7. the food vending machine existing processed according to any one of claims 1 to 3, is characterized in that:
Described internal body is provided with slide groove, and the outside of described slide groove is communicated with described thing mouth of getting, and the inner side of described slide groove is inclined upwardly setting from described lateral ends.
8. the method for work of existing food vending machine processed, now food vending machine processed comprises sales unit and is positioned at the guidance panel of engine body exterior and gets thing mouth; Described now food vending machine inside processed is provided with material stock unit, container storage unit, sealing unit and Multi-shaft mechanical arm, is placed with multiple container in described container storage unit; The tail end arm of described Multi-shaft mechanical arm is provided with crawl section;
It is characterized in that:
The method of work of described now food vending machine processed comprises:
Described sales unit receives Food choice information;
Described crawl section moves to container storage unit and captures a container;
Described container is transported to described material stock unit place in described crawl section, and food materials add in described container by described material stock unit;
Described Multi-shaft mechanical arm is transported described container to described sealing unit and is sealed, and transport described container to described in get thing mouth place.
9. the method for work of now food vending machine processed according to claim 8, is characterized in that:
Described material stock unit comprises at least one liquid material stock unit;
Be provided with liquid level sensor in described liquid material stock unit, described liquid level sensor detects liquid level in described liquid material stock unit and sends warning message lower than during setting value.
10. the method for work of now food vending machine processed according to claim 8, is characterized in that:
Described material stock unit comprises at least one solid material stock unit;
Described solid material stock unit is provided with pressure transducer, and described pressure transducer detects surplus in described solid material stock unit and sends warning message lower than during setting value.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510888934.8A CN105513211B (en) | 2015-12-04 | 2015-12-04 | Now food vending machine processed and the now working method of food vending machine processed |
| HK16112012.1A HK1224071A1 (en) | 2015-12-04 | 2016-10-18 | Automatic vending machine for freshly-made food and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510888934.8A CN105513211B (en) | 2015-12-04 | 2015-12-04 | Now food vending machine processed and the now working method of food vending machine processed |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105513211A true CN105513211A (en) | 2016-04-20 |
| CN105513211B CN105513211B (en) | 2018-09-25 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510888934.8A Active CN105513211B (en) | 2015-12-04 | 2015-12-04 | Now food vending machine processed and the now working method of food vending machine processed |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN105513211B (en) |
| HK (1) | HK1224071A1 (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106157452A (en) * | 2016-07-19 | 2016-11-23 | 卜鹏飞 | Fruit juice self-service sale device |
| CN107393176A (en) * | 2017-07-19 | 2017-11-24 | 罗志豪 | Now wheaten food vending machine processed and its method of work |
| CN107481426A (en) * | 2017-07-19 | 2017-12-15 | 罗志豪 | Steamed rice in clay pot vending machine and its method of work |
| CN107552333A (en) * | 2017-08-18 | 2018-01-09 | 湖南军成科技有限公司 | Point gum machine automatic charging device and method |
| CN109285280A (en) * | 2017-07-19 | 2019-01-29 | 游本俊 | Feeding mechanism for food vending machine |
| CN109859398A (en) * | 2017-11-30 | 2019-06-07 | 橙果信息技术有限公司 | It now makes now to be sold by and helps vending machine |
| CN109947059A (en) * | 2019-02-26 | 2019-06-28 | 广东工业大学 | A kind of smart kitchen systems based on Internet of Things |
| CN110623563A (en) * | 2019-08-02 | 2019-12-31 | 广东智源机器人科技有限公司 | Frying control method |
| CN111653032A (en) * | 2019-08-20 | 2020-09-11 | 天津雷云智能科技有限公司 | Goods structure is got in side shipment of automatic vending machine |
| CN112700593A (en) * | 2020-12-01 | 2021-04-23 | 重庆智能机器人研究院 | Automatic vending machine and vending method |
| US20210278126A1 (en) * | 2020-03-06 | 2021-09-09 | InTunes Products, LLC | Methods, systems and apparatus for remote diagnostics and control of robot |
| CN115592675A (en) * | 2022-12-01 | 2023-01-13 | 今麦郎饮品股份有限公司（Cn） | Control system based on portable drink preparation arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106157452B (en) * | 2016-07-19 | 2019-02-26 | 卜鹏飞 | Fruit juice self-service sale device |
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| CN109285280B (en) * | 2017-07-19 | 2021-05-11 | 游本俊 | Supply device for food vending machine |
| CN107393176A (en) * | 2017-07-19 | 2017-11-24 | 罗志豪 | Now wheaten food vending machine processed and its method of work |
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| CN109947059A (en) * | 2019-02-26 | 2019-06-28 | 广东工业大学 | A kind of smart kitchen systems based on Internet of Things |
| CN110623563A (en) * | 2019-08-02 | 2019-12-31 | 广东智源机器人科技有限公司 | Frying control method |
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| CN111653032A (en) * | 2019-08-20 | 2020-09-11 | 天津雷云智能科技有限公司 | Goods structure is got in side shipment of automatic vending machine |
| US20210278126A1 (en) * | 2020-03-06 | 2021-09-09 | InTunes Products, LLC | Methods, systems and apparatus for remote diagnostics and control of robot |
| CN112700593A (en) * | 2020-12-01 | 2021-04-23 | 重庆智能机器人研究院 | Automatic vending machine and vending method |
| CN115592675A (en) * | 2022-12-01 | 2023-01-13 | 今麦郎饮品股份有限公司（Cn） | Control system based on portable drink preparation arm |
| CN115592675B (en) * | 2022-12-01 | 2023-09-12 | 今麦郎饮品股份有限公司 | Control system based on mobile beverage preparation mechanical arm |
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| Publication number | Publication date |
|---|---|
| CN105513211B (en) | 2018-09-25 |
| HK1224071A1 (en) | 2017-08-11 |
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