CN110250802A - A kind of double hook lifting picking mechanism of automatic vending machine - Google Patents
A kind of double hook lifting picking mechanism of automatic vending machine Download PDFInfo
- Publication number
- CN110250802A CN110250802A CN201910539712.3A CN201910539712A CN110250802A CN 110250802 A CN110250802 A CN 110250802A CN 201910539712 A CN201910539712 A CN 201910539712A CN 110250802 A CN110250802 A CN 110250802A
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- Prior art keywords
- vending machine
- axis driving
- automatic vending
- driving device
- movable stand
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- 230000005540 biological transmission Effects 0.000 claims description 39
- 238000001514 detection method Methods 0.000 claims description 8
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000006698 induction Effects 0.000 description 8
- 239000002360 explosive Substances 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006386 neutralization reaction Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47F—SPECIAL FURNITURE, FITTINGS, OR ACCESSORIES FOR SHOPS, STOREHOUSES, BARS, RESTAURANTS OR THE LIKE; PAYING COUNTERS
- A47F1/00—Racks for dispensing merchandise; Containers for dispensing merchandise
- A47F1/04—Racks or containers with arrangements for dispensing articles, e.g. by means of gravity or springs
- A47F1/06—Racks or containers with arrangements for dispensing articles, e.g. by means of gravity or springs dispensing from top
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F9/00—Details other than those peculiar to special kinds or types of apparatus
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Vending Machines For Individual Products (AREA)
Abstract
The present invention relates to automatic vending machine picking technical fields, picking mechanism is gone up and down more particularly to a kind of double hook of automatic vending machine, including frame, movable stand is slidably connected on frame, X-axis driving device and Z axis driving device are installed on movable stand, X-axis driving device output end connection framework, Z axis driving device output end connects picking basket, picking basket is slidably connected movable stand, two groups of Y-axis driving devices are installed on picking basket, drag hook is mounted on two groups of Y-axis driving device output ends, picking basket of the present invention is movable to shipment position, cargo can be tumbled to picking basket from shelf, picking basket is moved at access section again, cargo does not have to directly fall, reduce the damage that cargo receives in falling, also some frangible cargos be can be suitably used for, increase the scope of application of automatic vending machine, automatic vending can be passed through by enriching The type of merchandize of machine purchase.
Description
Technical field
The present invention relates to automatic vending machine picking technical fields, more specifically to a kind of double hook of automatic vending machine
Go up and down picking mechanism.
Background technique
Automatic vending machine is the machine that goods can be paid automatically according to the coin of investment, it is not limited by time, place, can be saved
Human-saving facilitates transaction, is a kind of completely new retail form, the micro supermarket for the 24 HOUR ACCESS that is otherwise known as, current existing skill
Automatic vending machine in art is generally cargo and directly falls in picking basket, but is easy that cargo appearance is made to be recessed, even
Cargo is ruptured, therefore some frangible cargos can not be suitable for, there is certain limitation.
Summary of the invention
The technical problem to be solved in the present invention is that in view of the above drawbacks of the prior art, providing a kind of automatic vending machine
Double hook go up and down picking mechanism.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of double hook of automatic vending machine goes up and down picking mechanism, including frame, slidably connects movable stand on frame, mobile
X-axis driving device and Z axis driving device, X-axis driving device output end connection framework, the output of Z axis driving device are installed on frame
End connection picking basket, picking basket are slidably connected movable stand, and two groups of Y-axis driving devices, two groups of Y-axis driving dresses are equipped on picking basket
It sets and is mounted on drag hook on output end.
Further, on frame be provided with rack gear and the first guide rail at the cooperation of X-axis driving device；Pacify on movable stand
Equipped with movable plate, movable plate is slidably connected the first guide rail, tablet is fixed on movable plate side, frame both ends are provided with detection
Switch.
Further, X-axis driving device includes first motor, the first transmission component, first rotating shaft and gear, the first electricity
Machine is fixed on movable plate, and first rotating shaft is rotatablely connected through movable stand and with movable stand, and gear is fixed on the end of first rotating shaft
On end, and wheel and rack engages, and the output shaft of first motor passes through the first transmission component transmission connection first rotating shaft.
Further, Z axis driving device includes that the second motor, the second shaft, the second transmission component and two thirds pass
Dynamic component, the second motor are fixed on movable stand, and the second shaft is rotatably arranged on movable stand, and the second motor passes through the second transmission
Component the second shaft of transmission connection, the second both ends of the shaft are separately connected the drive end of two third transmission components, and two thirds pass
The driven end of dynamic component is rotatably arranged on movable stand, and two third transmission components are located at the opposite two sides of movable stand
On.
Further, picking basket two sides are connect with two third transmission components respectively, and second is provided on movable stand and is led
Rail, is provided with slide guide part on picking basket, and slide guide part is slidably connected the second guide rail, is provided with bolster in picking basket.
Further, several groups opposite type sensor is provided on two sides opposite in picking basket.
Further, color mark sensor is installed on picking basket.
Further, Y-axis driving device includes third motor, screw rod and movable block, and it is defeated that screw rod is fixed on third motor
In outlet, movable block is set on screw rod and cooperates with wire rod thread, and movable stand is fixed in the separate one end rotation connection of screw rod
On mounting plate, guide rod is fixedly installed on mounting plate, guide rod is rotatablely connected through movable block and with movable block.
Further, drag hook is mounted on movable block by fixed link, and a degree of bullet of compression is cased in fixed link
Spring.
Further, the first close switch and the second close switch, the first close switch and second are provided on drag hook
It is orthogonal close to switching.
The beneficial effects of the present invention are: picking basket of the present invention is movable to shipment position, and cargo can be rolled from shelf
It drops down onto picking basket, picking basket is moved at access section again, and cargo does not have to directly fall, and reduces what cargo received in falling
Damage, also can be suitably used for some frangible cargos, increases the scope of application of automatic vending machine, automatic selling can be passed through by enriching
The type of merchandize of cargo aircraft purchase.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below in conjunction with attached drawing and reality
Applying example, the invention will be further described, and the accompanying drawings in the following description is only section Example of the invention, for this field
For those of ordinary skill, without creative efforts, it can also be obtained according to these attached drawings other accompanying drawings:
Fig. 1 is a kind of double hook lifting picking mechanism structure schematic diagram of automatic vending machine provided by the invention；
Fig. 2 is a kind of double hook lifting picking mechanism first angle explosive view of automatic vending machine provided by the invention；
Fig. 3 is a kind of double hook lifting picking mechanism second angle explosive view of automatic vending machine provided by the invention；
Fig. 4 is a kind of double hook lifting picking mechanism third angle explosive view of automatic vending machine provided by the invention；
Fig. 5 is a kind of double hook lifting picking mechanism fourth angle explosive view of automatic vending machine provided by the invention；
Fig. 6 is enlarged drawing at A in Fig. 1 of the present invention；
Fig. 7 is enlarged drawing at B in Fig. 1 of the present invention；
Fig. 8 is enlarged drawing at C in Fig. 1 of the present invention；
Fig. 9 is enlarged drawing at D in Fig. 2 of the present invention；
Figure 10 is enlarged drawing at E in Fig. 3 of the present invention；
Figure 11 is enlarged drawing at F in Fig. 4 of the present invention；
Figure 12 is enlarged drawing at G in Fig. 4 of the present invention；
Figure 13 is enlarged drawing at H in Fig. 5 of the present invention.
Specific embodiment
In order to keep the purposes, technical schemes and advantages of the embodiment of the present invention clearer, implement below in conjunction with the present invention
Technical solution in example carries out clear, complete description, it is clear that and described embodiment is section Example of the invention, and
It is not all of embodiment.Based on the embodiment of the present invention, those of ordinary skill in the art are not before making the creative labor
Every other embodiment obtained is put, protection scope of the present invention is belonged to.
As shown in Fig. 1-Figure 13, a kind of double hook of automatic vending machine goes up and down picking mechanism, including frame 10, sliding on frame 10
It is dynamic to be connected with movable stand 20, X-axis driving device 30 and Z axis driving device 40 are installed, X-axis driving device 30 is defeated on movable stand 20
Outlet connection framework 10, for driving movable stand 20 to move in X direction, 40 output end of Z axis driving device connects X-axis driving device 30
Basket 50 is picked up, to drive picking basket 50 to move along Z-direction, picking basket 50 is slidably connected movable stand Z axis driving device 40
20, two groups of Y-axis driving devices 60 are installed on picking basket 50, are mounted on drag hook 70 on two groups of 60 output ends of Y-axis driving device,
Drag hook 70 is matched with the goods mould group neutralization pull parts (not shown) that pushes away of vending machine ontology, when pulling out pull parts, cargo
It falls, pushing away goods mould group falls cargo in such a way that drag hook 70 pulls out pull parts.
On frame 10 with rack gear 11 and the first guide rail 12 are provided at the cooperation of X-axis driving device 30；Pacify on movable stand 20
Equipped with movable plate 21, movable plate 21 is slidably connected the first guide rail 12, and tablet 211, frame 10 are fixed on 21 side of movable plate
Both ends are provided with detection switch 13, and the controller or control system that two detection switch 13 are electrically connected vending machine ontology are (in figure
Position), detection switch 13 is for detecting tablet 211.
Wherein, middle rack 11 of the present invention and the first guide rail 12 have two respectively, and a rack gear 11 and the first guide rail 12 are installed
In 10 upper bottom surface of frame, another rack gear 11 and the first guide rail 12 are mounted in 10 bottom surface of frame；Movable plate 21 shares two
A, two movable plates 21 are slidably connected with two the first guide rails 12 respectively, and tablet 211 is fixed on positioned at 10 bottom surface of frame
On movable plate 21, detection switch 13 is separately positioned on the left and right ends of 10 bottom surface of frame.
X-axis driving device 30 includes first motor 31, the first transmission component 32, first rotating shaft 33 and gear 34, the first electricity
Machine 31 is fixed on movable plate 21, and first motor 31 is electrically connected the controller or control system of vending machine ontology, first rotating shaft
33 are rotatablely connected through movable stand 20 and with movable stand 20, and gear 34 is fixed on the end of first rotating shaft 33, and gear 34 with
Rack gear 11 engages, and the output shaft of first motor 31 passes through the first transmission component 32 transmission connection first rotating shaft 33.
Wherein, the first transmission component 32 is synchronous pulley component in the present invention, and 32 driving wheel of the first transmission component is mounted on
On the output shaft of first motor 31, driven wheel is mounted in first rotating shaft 3, gear 34 altogether there are two, two gears 34 are solid respectively
It is scheduled on the both ends of first rotating shaft 33 and is engaged respectively with two rack gears 11.
Output shaft is driven first rotating shaft 33 by the first transmission component 32 when first motor 31 works, to make 23 turns of gear
Dynamic, when movable stand 20 is moved to 10 left end of frame, when the detection switch 13 of left end detects tablet 211, the detection of left end is opened
It closes 13 and sends a signal to controller, controller transmission only stops signal and stops operating to first motor 31, avoids movable stand 20 mobile
Superzone and frame 10 collide.
Z axis driving device 40 includes the second motor 41, the second shaft 42, the second transmission component 43 and two third transmission groups
Part 44, the second motor 41 are fixed on movable stand 20, and the second motor 41 is electrically connected controller or the control system of vending machine ontology
System, the second shaft 42 are rotatably arranged on movable stand 20, and the second motor 41 is sequentially connected second turn by the second transmission component 43
Axis 42,42 both ends of the second shaft are separately connected the drive end of two third transmission components 44, two third transmission components 44 from
Moved end is rotatably arranged on movable stand 20, and two third transmission components 44 are located on the opposite two sides of movable stand 20.
Wherein, the second rotation axis 42 by bearing block is mounted on 20 bottom of movable stand, the second transmission component 43 in the present invention
For synchronous pulley component, the driving wheel of the second transmission component 43 is mounted on 41 output shaft of the second motor, and driven wheel is mounted on
Two shafts, 42 middle part, two third transmission components 44 are synchronous pulley component, the driving wheel difference of two third transmission components 44
It is mounted on the both ends of the second shaft 42, driven wheel is mounted on 20 upper end of movable stand (common synchronizing wheel mounting means).
50 two sides of picking basket are connect with two third transmission components 44 respectively, and 50 two sides of picking basket are separately fixed at two
On the synchronous belt of three transmission components 44, it is provided with the second guide rail 22 on movable stand 20, is provided with slide guide part 51 on picking basket 50, leads
Saddle 51 is slidably connected the second guide rail 22, is provided with bolster 52 in picking basket 50.
Wherein, slide guide part is sliding block in the present invention, in other embodiments can also be pulley or other slide guide components, buffering
Part 52 is resilient cushion, the cargo fallen in buffering shelf.
Several groups opposite type sensor 53, the electricity of several groups opposite type sensor 53 are provided in picking basket 50 on opposite two sides
Property connection vending machine ontology controller or control system, one in picking basket 50 is arranged in the transmitting terminal of opposite type sensor 53
The opposite other side is arranged in side, receiving end, the light after cargo in picking basket 50 is removed, between opposite type sensor 53
Connection sends a signal to controller, and controller controls vending machine access door and closes, and then controls first motor 31 and second simultaneously
The work of motor 41 makes picking basket 50 be returned to zero-bit (position of preset in advance).
Color mark sensor 54 is installed on picking basket 50, color mark sensor 54 be electrically connected vending machine ontology controller or
The induction end of control system, color mark sensor 54 is arranged towards vending machine shelf, and color mark sensor 54 is for incuding vending machine goods
Frame and push away corresponding induction region in goods mould group (not shown).
Wherein, picking basket 50 is separately mounted to towards vending machine shelf there are two the settings of color mark sensor 54 in the present invention
On the left and right ends of side, it is located at two drag hooks, 70 top, two color mark sensors 54 respectively correspond left side in vending machine
It shelf and pushes away the induction zone of goods mould group and right side rack and pushes away the induction zone of goods mould group.
Y-axis driving device 60 includes third motor 61, screw rod 62 and movable block 63, and third motor 61 is electrically connected vending machine
The controller or control system of ontology, screw rod 62 are fixed on 61 output end of third motor, and movable block 63 is set on screw rod 62
And be threadedly engaged with screw rod 62, the mounting plate that the separate one end rotation connection of screw rod 62 is fixed on movable stand 20, on mounting plate
It is fixedly installed guide rod 64, guide rod 64 is rotatablely connected through movable block 63 and with movable block 63, and guide rod 64 plays movable block
63 guiding and position-limiting action.
Drag hook 70 is mounted on movable block 63 by fixed link, and a degree of spring 71 of compression is cased in fixed link, is made
The both ends component of fixed link by the elastic force effect of spring 71 is guaranteed drag hook 70 vertical with bottom (i.e. drag hook 70 and screw rod 62 is flat
Row), such as occur after drag hook 70 is hooked to the component for pushing away goods mould group in some situations, if drag hook 70 occur pushes the pulling for pushing away goods mould group
Excessive parts, drag hook 70 receive upward opposite force, and spring 71 compresses drag hook 70 and bottom generates rotation and angle is made to occur one
Fixed variation, overcomes mechanically deform.
It is close close to switch 72 and second close to switch 72 and second close to switch 73, first that first is provided on drag hook 70
Switch 73 is electrically connected the controller or control system of vending machine ontology, and first is mutual close to switch 72 and second close to switch 73
Vertically, the induction end of the first close switch 72 is arranged downwards, and second is arranged close to switch 73 towards vending machine shelf.
Vending machine, which pushes away, to be provided with respectively for the second close switch 73 and the first close switch 72 in goods mould group and pull parts
The tablet of induction, when drag hook 70 travels forward along screw rod 62 (mobile to shelf direction), second senses close to switch 73
(distance of reaction of preset in advance) gives controller signal in place when pushing away the tablet of the close switch 73 of direction second in goods mould group,
Controller is given after leaving and leaves signal, and (second senses tablet close to switch 73 after second approaches switch 73 in place
Afterwards), drag hook 70 moves down at this time, and first senses in pull parts close to switch 72 towards the induction of the first close switch 72
After plate (distance of reaction of preset in advance), gives drag hook 70 and align signal, drag hook 70 moves backward a spacing along lead screw 62 at this time
From pull parts are pulled out, fall to cargo in picking basket 50, opposite type sensor 53 sends a signal to control after sensing cargo
Device, controller give drag hook 70 signal at this time, and the Forward of drag hook 70 is made to pull on member reset, and the second close switch 73, which senses, to be pushed away
In goods mould group towards second close to switch 73 tablet when, drag hook 70 moves up that (preset in advance is between certain time at this time
Every interior, second close to the signal that switch 73 is sent be it is first sense tablet when, sending a signal to controller makes drag hook 70
Move down, when sensing tablet again, move up drag hook 70), the induction of the first close switch 72 and pull parts
Area generates separation signal and is sent to controller after being detached from, controller controls drag hook 70 and resets, and then drives picking basket 50 to taking
At goods door.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (10)
1. a kind of double hook of automatic vending machine goes up and down picking mechanism, including frame (10), which is characterized in that on the frame (10)
It slidably connects movable stand (20), X-axis driving device (30) and Z axis driving device (40) is installed on the movable stand (20),
X-axis driving device (30) the output end connection framework (10), Z axis driving device (40) output end connect picking basket (50), institute
It states picking basket (50) to be slidably connected movable stand (20), two groups of Y-axis driving devices (60) is installed on the picking basket (50), two groups
Drag hook (70) are mounted on Y-axis driving device (60) output end.
2. the double hook of automatic vending machine according to claim 1 goes up and down picking mechanism, which is characterized in that the frame (10)
Rack gear (11) and the first guide rail (12) are provided at the upper and cooperation of X-axis driving device (30)；It is installed on the movable stand (20)
Have movable plate (21), the movable plate (21) is slidably connected the first guide rail (12), fixes thoughts on movable plate (21) side
It answers plate (211), frame (10) both ends are provided with detection switch (13).
3. the double hook of automatic vending machine according to claim 2 goes up and down picking mechanism, which is characterized in that the X-axis driving
Device (30) includes first motor (31), the first transmission component (32), first rotating shaft (33) and gear (34), the first motor
(31) it being fixed on movable plate (21), the first rotating shaft (33) is rotatablely connected through movable stand (20) and with movable stand (20),
The gear (34) is fixed on the end of first rotating shaft (33), and gear (34) is engaged with rack gear (11), the first motor
(31) output shaft passes through the first transmission component (32) transmission connection first rotating shaft (33).
4. the double hook of automatic vending machine according to claim 1 goes up and down picking mechanism, which is characterized in that the Z axis driving
Device (40) includes the second motor (41), the second shaft (42), the second transmission component (43) and two third transmission components (44),
Second motor (41) is fixed on movable stand (20), and second shaft (42) is rotatably arranged on movable stand (20), institute
It states the second motor (41) and passes through the second transmission component (43) transmission connection the second shaft (42), the second shaft (42) both ends point
Not Lian Jie two third transmission components (44) drive end, the driven end of two third transmission components (44) is rotatably arranged on movement
On frame (20), and two third transmission components (44) are located on the opposite two sides of movable stand (20).
5. the double hook of automatic vending machine according to claim 4 goes up and down picking mechanism, which is characterized in that the picking basket
(50) two sides are connect with two third transmission components (44) respectively, are provided with the second guide rail (22), institute on the movable stand (20)
It states and is provided on picking basket (50) slide guide part (51), the slide guide part (51) is slidably connected the second guide rail (22), the picking basket
(50) bolster (52) are provided in.
6. the double hook of automatic vending machine according to claim 1 goes up and down picking mechanism, which is characterized in that the picking basket
(50) it is provided on opposite two sides in several groups opposite type sensor (53).
7. the double hook of automatic vending machine according to claim 1 goes up and down picking mechanism, which is characterized in that the picking basket
(50) color mark sensor (54) are installed on.
8. the double hook of automatic vending machine according to claim 1 goes up and down picking mechanism, which is characterized in that the Y-axis driving
Device (60) includes third motor (61), screw rod (62) and movable block (63), and the screw rod (62) is fixed on third motor (61)
On output end, the movable block (63) is set on screw rod (62) and is threadedly engaged with screw rod (62), and the screw rod (62) is separate
One end be rotatablely connected the mounting plate that is fixed on movable stand (20), be fixedly installed guide rod (64), institute on the mounting plate
Guide rod (64) are stated through movable block (63) and are rotatablely connected with movable block (63).
9. the double hook of automatic vending machine according to claim 8 goes up and down picking mechanism, which is characterized in that the drag hook (70)
It is mounted on movable block (63) by fixed link, a degree of spring (71) of compression is cased in the fixed link.
10. the double hook of automatic vending machine according to claim 1 goes up and down picking mechanism, which is characterized in that the drag hook
(70) it is close close to switch (72) and second close to switch (72) and second close to switch (73), described first that first is provided on
It is orthogonal to switch (73).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910539712.3A CN110250802A (en) | 2019-06-21 | 2019-06-21 | A kind of double hook lifting picking mechanism of automatic vending machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910539712.3A CN110250802A (en) | 2019-06-21 | 2019-06-21 | A kind of double hook lifting picking mechanism of automatic vending machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110250802A true CN110250802A (en) | 2019-09-20 |
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ID=67920019
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910539712.3A Pending CN110250802A (en) | 2019-06-21 | 2019-06-21 | A kind of double hook lifting picking mechanism of automatic vending machine |
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| Country | Link |
|---|---|
| CN (1) | CN110250802A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10255153A (en) * | 1997-03-06 | 1998-09-25 | Sanyo Electric Co Ltd | Device for housing merchandise of automatic vending machine |
| CN105719394A (en) * | 2016-01-26 | 2016-06-29 | 橙果信息技术有限公司 | Goods taking manipulator of vending machine |
| CN107016793A (en) * | 2017-03-24 | 2017-08-04 | 深圳福禄家科技发展有限公司 | Automatic vending machine |
| CN109377651A (en) * | 2018-11-08 | 2019-02-22 | 东莞市势为物联网科技有限公司 | A kind of goods taking device of automatic vending machine three-dimensional mechanical hand |
| WO2019057127A1 (en) * | 2017-09-25 | 2019-03-28 | 上海巨昂实业有限公司 | Goods pickup door structure and goods shelf |
| CN210354056U (en) * | 2019-06-21 | 2020-04-21 | 东莞市势为物联网科技有限公司 | Double-hook lifting goods taking mechanism of vending machine |
-
2019
- 2019-06-21 CN CN201910539712.3A patent/CN110250802A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10255153A (en) * | 1997-03-06 | 1998-09-25 | Sanyo Electric Co Ltd | Device for housing merchandise of automatic vending machine |
| CN105719394A (en) * | 2016-01-26 | 2016-06-29 | 橙果信息技术有限公司 | Goods taking manipulator of vending machine |
| CN107016793A (en) * | 2017-03-24 | 2017-08-04 | 深圳福禄家科技发展有限公司 | Automatic vending machine |
| WO2019057127A1 (en) * | 2017-09-25 | 2019-03-28 | 上海巨昂实业有限公司 | Goods pickup door structure and goods shelf |
| CN109377651A (en) * | 2018-11-08 | 2019-02-22 | 东莞市势为物联网科技有限公司 | A kind of goods taking device of automatic vending machine three-dimensional mechanical hand |
| CN210354056U (en) * | 2019-06-21 | 2020-04-21 | 东莞市势为物联网科技有限公司 | Double-hook lifting goods taking mechanism of vending machine |
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