CN204256833U - With the lift automatic vending machine of mechanical arm - Google Patents
With the lift automatic vending machine of mechanical arm Download PDFInfo
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- CN204256833U CN204256833U CN201420751444.4U CN201420751444U CN204256833U CN 204256833 U CN204256833 U CN 204256833U CN 201420751444 U CN201420751444 U CN 201420751444U CN 204256833 U CN204256833 U CN 204256833U
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- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 2
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- 239000000725 suspension Substances 0.000 description 4
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- 235000012828 Citrullus lanatus var citroides Nutrition 0.000 description 1
- 244000060011 Cocos nucifera Species 0.000 description 1
- 235000013162 Cocos nucifera Nutrition 0.000 description 1
- 235000019504 cigarettes Nutrition 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 235000013410 fast food Nutrition 0.000 description 1
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Abstract
The utility model discloses the lift automatic vending machine with mechanical arm, include lifting motor, translating device and robot device, lifting motor makes translating device move up and down, first bearing is fixed with horizontal motor, second bearing settlement has power wheel, one circle belt one end and horizontal motor are in transmission connection, the other end is around on power wheel, manipulator support is connected by the sliding plate of electric pushrod with mechanical arm bottom, electric pushrod energy promotion robot advances or retreats, manipulator support is also provided with slide, sliding plate bottom is fixed with advance and retreat slide block, advance and retreat skid is arranged on slide, mechanical arm includes picking pallet, picking pallet is provided with pallet pin relative to the opposite side of extension spring, when picking pallet arrives outlet place, the stroke that pallet pin lived by fixed gear pole spacing makes picking pallet rotate around pallet axle.The utility model has easy to use, with low cost, and applicable volume is comparatively large, the advantage of the goods automatic vending of heavier-weight.
Description
Technical field
The utility model relates to the technical field of automatic vending machine, particularly relates to the lift automatic vending machine with mechanical arm.
Background technology
Automatic vending machine, with the feature such as convenience, novelty, civilization, round-the-clock service, becomes indispensable convenience-for-people auxiliary facility, for client provides many services.The commodity of what current Vending Machine was sold be mostly lighter in weight, small volume, as bottle filled drink, can, cigarette, pot foods, books and periodicals magazine etc.And have several as follows in the shipment mode of the automatic vending machine of normal employing at present: in-line arrangement, spiral goods road, snakelike goods road and cabinet type shipment.These shipment modes are applied in that frangible, volume is comparatively large, heavier-weight goods time, all there is certain weak point.As in-line arrangement goods road is unfavorable for frangible easily damaged goods; There is limitation in the load-bearing of spiral goods road, comparatively parcel can cause goods road to work; Snakelike goods road, due to its special stack of goods mode, limits it and can only be used near cylindrical goods (as bottle, tinned drink); Cabinet type then space utilization is insufficient, and after a shipment, palpus etc. replenishes and just can sell goods next time.Above-mentioned automatic vending machine is not just suitable for fast food, fruit and other items.As coconut, watermelon equal-volume commodity that are larger, heavier, cracky then can not use this vending machine to peddle.
Utility model content
Technical problem to be solved in the utility model is for the above-mentioned state of the art, and provide a kind of and move flexibly, get object space just, the lift automatic vending machine with mechanical arm that medium-and-large-sized goods can be placed, coordinate goods in suspension of taking by jacking gear and mechanical arm.
The utility model solves the problems of the technologies described above adopted technical scheme:
With the lift automatic vending machine of mechanical arm, comprise the vending machine main body being provided with outlet, described vending machine main body internal fixtion has goods suspender and the control device in upper and lower arranging multiplayer goods road, Mei Cenghuo road is all fixed in vending machine main body by backing plate, described backing plate slant setting, road is all provided with Fluency strip to Mei Tiaohuo, above Fluency strip, be symmetrically arranged with Liang Tiaohuo road guide rod, the front end of described goods road guide rod is provided with crotch, it is characterized in that: this automatic vending machine also includes lifting motor, translating device and robot device, described translating device includes the first bearing and second bearing of left and right cooperation, lifting motor coordinates with the first bearing and/or the second bearing transmission makes translating device move up and down, the first described bearing is fixed with horizontal motor, the second described bearing settlement has power wheel, one circle belt one end and horizontal motor are in transmission connection, the other end is around on power wheel, also slide block guide rail is provided with between the first described bearing and the second bearing, described robot device includes manipulator support, described manipulator support bottom is fixed with pressure zone crotch and cross sliding clock, described pressure zone crotch is fixedly connected with belt, described cross sliding clock is slidably arranged on slide block guide rail, described manipulator support top is provided with mechanical arm, described manipulator support is connected by the sliding plate of electric pushrod with mechanical arm bottom, described electric pushrod energy promotion robot advances or retreats, described manipulator support is also provided with slide, described sliding plate bottom is fixed with advance and retreat slide block, described advance and retreat skid is arranged on slide, , the interval, goods road that mechanical arm level can be made to stretch into is provided with bottom described goods suspender Mei Cenghuo road, described control device controls lifting motor, the duty of horizontal motor and electric pushrod, described mechanical arm includes picking pallet, described picking pallet and pallet axle are arranged on bearing seat after fixing, described picking pallet has two tray slots passed for Shi Huo road guide rod, described picking pallet is combined with extension spring, described extension spring one end is fixed on picking pallet side, one end is fixed on sliding plate, described picking pallet is provided with pallet pin relative to the opposite side of extension spring, described vending machine main body is provided with fixing lever at outlet place, when described picking pallet arrives outlet place, the stroke that pallet pin lived by described fixed gear pole spacing makes picking pallet rotate around pallet axle.
For optimizing technique scheme, the concrete measure taked also comprises:
The first above-mentioned bearing or the second bearing are provided with the pick-up unit for inspecting manipuator horizontal level.
Above-mentioned pick-up unit is optoelectronic switch.Optoelectronic switch detects the horizontal level that flute profile position sheet judges picking mechanical arm.
Above-mentioned horizontal motor is for exchanging brake motor, and this horizontal motor is connected with belt gear by reducer casing.
Above-mentioned pallet pin end is provided with bending head.
Above-mentioned control device is single-chip microcomputer or programmable logic controller (PLC).
With a method of work for the lift automatic vending machine of mechanical arm, comprise the following steps:
Step one, when automatic vending machine is in automatic vending state, control device control lifting motor, horizontal motor and electric pushrod running makes mechanical arm reset at assigned address;
Step 2, after automatic vending machine receives pick-up instruction, control device control lifting motor running, translating device is raised to the assigned address of the side, bottom in a certain goods road, control device stop lifting motor running;
Step 3, control device level of control motor operate, belt is rotated, and the robot device be fixed on belt is servo-actuated, and cross sliding clock slides at slide block guide rail, when the mechanical arm on robot device is moved to below appointment goods road, control device stops horizontal motor running;
Step 4, control device control electric pushrod running, and electric pushrod promotion robot travels forward, and make the picking pallet of mechanical arm be in immediately below first goods of appointment front end, goods road, control device stops electric pushrod running;
Step 5, control device control lifting motor running, and by translating device lifting, this goods is held up certain altitude and departs from goods road completely to goods by picking pallet, and control device stops lifting motor action;
Step 6, control device control electric pushrod running, and electric pushrod reclaims, and mechanical arm moves backward, makes mechanical arm leave directly over goods road;
Step 7, control device control lifting motor, mechanical arm is sent to outlet by horizontal motor, the pallet pin on picking pallet lived by the fixed gear pole spacing of vending machine main body, mechanical arm continues level and advances, and make picking pallet rotate around pallet axle, goods falls into outlet from picking pallet;
Step 8, mechanical arm are under the control of control device, and horizontal direction retreats, and fixing lever and pallet pin progressively depart from, and picking pallet playbacks under the tractive of extension spring, and mechanical arm carries out a homing action at lifting motor, horizontal motor under controlling.
In step 5 when goods has departed from goods suspension completely, the goods on this goods road will fill up the position of removed goods automatically, waits for next time by picking.
Be arranged on the position of the pick-up unit energy Real-Time Monitoring mechanical arm on translating device, and by information feed back to control device, described control device controls the position of lifting motor, horizontal motor and electric pushrod adjustment mechanical arm by this information.
Compared with prior art, the utility model is a kind of automatic vending machine being realized picking and reset by jacking gear, translating device and driving and reversing mechanism co-operation.The problem adopting this structure can avoid the automatic vending machine of other shipment modes often to run into.Such as, goods can be delivered to outlet by mechanical arm of the present utility model always, instead of directly fall down from shelf, therefore some frangible commodity can be placed on shelf, goods is also directly held up by picking pallet and takes out by the utility model, there is not the problem that the road load-bearing of spiral goods is little, there is not the problem that near cylindrical goods can only be placed in snakelike goods road yet.The slant setting object of backing plate of the present utility model makes goods utilize the Action of Gravity Field of self, slide downward.For reducing friction, Fluency strip is all installed in road with goods, and goods is more easily rolled downslide.The effect of goods road guide rod is for preventing goods from landing track Fluency strip, and play goods guide effect, the front end of goods road guide rod is provided with crotch, is in order to fixing Mei Tiaohuo road goods foremost, prevents goods from tumbling.
The utility model have mobile flexibly, get object space just, the advantage that medium-and-large-sized goods can be placed, coordinate goods in suspension of taking by jacking gear and mechanical arm.
Accompanying drawing explanation
Fig. 1 is the structural representation one of goods suspender of the present utility model;
Fig. 2 is the structural representation two of goods suspender of the present utility model;
Fig. 3 is the structural representation of translating device of the present utility model;
Fig. 4 is the structural representation of robot device of the present utility model.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is described in further detail.
Fig. 1 is to Figure 4 shows that structural representation of the present utility model;
Reference numeral is wherein: goods suspender 1, crotch 2, backing plate 3, Fluency strip 4, goods road guide rod 5, translating device 6, first bearing 7, second bearing 8, horizontal motor 9, power wheel 10, belt 11, slide block guide rail 12, robot device 13, manipulator support 14, pressure zone crotch 15, cross sliding clock 16, electric pushrod 17, slide 18, advance and retreat slide block 19, mechanical arm 20, picking pallet 21, pallet axle 22, bearing seat 23, extension spring 24, sliding plate 25, pallet pin 26, tray slot 27, pick-up unit 28.
As shown in Figures 1 to 4, lift automatic vending machine with mechanical arm of the present utility model, comprise the vending machine main body being provided with outlet, described vending machine main body internal fixtion has goods suspender 1 and the control device in upper and lower arranging multiplayer goods road, Mei Cenghuo road is all fixed in vending machine main body by backing plate 3, described backing plate 3 slant setting, Mei Tiaohuo road is all provided with Fluency strip 4, above Fluency strip 4, be symmetrically arranged with Liang Tiaohuo road guide rod 5, the front end of described goods road guide rod 5 is provided with crotch 2, it is characterized in that: this automatic vending machine also includes lifting motor, translating device 6 and robot device 13, described translating device 6 includes the first bearing 7 and the second bearing 8 that left and right coordinates, lifting motor coordinates with the first bearing 7 and/or the second bearing 8 transmission makes translating device 6 move up and down, the first described bearing 7 is fixed with horizontal motor 9, the second described bearing 8 is provided with power wheel 10, one circle belt 11 one end and horizontal motor 9 are in transmission connection, the other end is around on power wheel 10, slide block guide rail 12 is also provided with between the first described bearing 7 and the second bearing 8, described robot device 13 includes manipulator support 14, described manipulator support 14 bottom is fixed with pressure zone crotch 15 and cross sliding clock 16, described pressure zone crotch 15 is fixedly connected with belt 11, described cross sliding clock 16 is slidably arranged on slide block guide rail 12, described manipulator support 14 top is provided with mechanical arm 20, described manipulator support 14 is connected by the sliding plate 25 of electric pushrod 17 with mechanical arm 20 bottom, described electric pushrod 17 can advance or retreat by promotion robot 20, described manipulator support 14 is also provided with slide 18, described sliding plate 25 bottom is fixed with advance and retreat slide block 19, described advance and retreat slide block 19 is slidably arranged on slide 18, , the interval, goods road that mechanical arm 20 level can be made to stretch into is provided with bottom described goods suspender 1 Mei Cenghuo road, described control device controls lifting motor, the duty of horizontal motor 9 and electric pushrod 17, described mechanical arm 20 includes picking pallet 21, be arranged on bearing seat 23 after described picking pallet 21 is fixing with pallet axle 22, described picking pallet 21 has two tray slots 27 passed for Shi Huo road guide rod 5, described picking pallet 21 is combined with extension spring 24, described extension spring 24 one end is fixed on picking pallet 21 side, one end is fixed on sliding plate 25, described picking pallet 21 is provided with pallet pin 26 relative to the opposite side of extension spring 24, described vending machine main body is provided with fixing lever at outlet place, when described picking pallet 21 arrives outlet place, the stroke that pallet pin 26 lived by described fixed gear pole spacing makes picking pallet 21 rotate around pallet axle 22.
First bearing 7 or the second bearing 8 are provided with the pick-up unit 28 for inspecting manipuator 20 horizontal level.
Pick-up unit 28 is optoelectronic switch.Optoelectronic switch detects the horizontal level that flute profile position sheet judges picking mechanical arm.
Horizontal motor 9 is for exchanging brake motor, and this horizontal motor 9 is in transmission connection by reducer casing and belt 11.
Pallet pin 26 end is provided with bending head.
Control device is single-chip microcomputer or programmable logic controller (PLC).
With a method of work for the lift automatic vending machine of mechanical arm, comprise the following steps:
Step one, when automatic vending machine is in automatic vending state, control device control lifting motor, horizontal motor 9 and electric pushrod 17 running makes mechanical arm 20 reset at assigned address;
Step 2, after automatic vending machine receives pick-up instruction, control device control lifting motor running, translating device 6 is raised to the assigned address of the side, bottom in a certain goods road, control device stop lifting motor running;
Step 3, control device level of control motor 9 operate, belt 11 is rotated, the robot device 13 be fixed on belt 11 is servo-actuated, cross sliding clock 16 slides at slide block guide rail 12, when the mechanical arm 20 on robot device 13 is moved to below appointment goods road, control device stops horizontal motor 9 to operate;
Step 4, control device control electric pushrod 17 and operate, and electric pushrod 17 promotion robot 20 travels forward, and make the picking pallet 21 of mechanical arm 20 be in immediately below first goods of appointment front end, goods road, control device stops electric pushrod 17 to operate;
Step 5, control device control lifting motor running, and by translating device 6 lifting, this goods is held up certain altitude and departs from goods road completely to goods by picking pallet 21, and control device stops lifting motor action;
Step 6, control device control electric pushrod 17 and operate, and electric pushrod 17 reclaims, and mechanical arm 20 moves backward, makes mechanical arm 20 leave directly over goods road;
Step 7, control device control lifting motor, mechanical arm 20 is sent to outlet by horizontal motor 9, the pallet pin 26 on picking pallet 21 lived by the fixed gear pole spacing of vending machine main body, mechanical arm 20 continues level and advances, make picking pallet 21 rotate around pallet axle 22, goods falls into outlet from picking pallet 21;
Step 8, mechanical arm 20 are under the control of control device, horizontal direction retreats, fixing lever and pallet pin 26 progressively depart from, and picking pallet 21 playbacks under the tractive of extension spring 24, and mechanical arm 20 carries out a homing action at lifting motor, horizontal motor 9 under controlling.
In step 5 when goods has departed from goods suspension completely, the goods on this goods road will fill up the position of removed goods automatically, waits for next time by picking.
Be arranged on the position of the pick-up unit 28 energy Real-Time Monitoring mechanical arm 20 on translating device 6, and by information feed back to control device, control device controls by this information the position that lifting motor, horizontal motor 9 and electric pushrod 17 adjust mechanical arm 20.
Below be only preferred implementation of the present utility model, protection domain of the present utility model be not only confined to above-described embodiment, all technical schemes belonged under the utility model thinking all belong to protection domain of the present utility model.It should be pointed out that for those skilled in the art, not departing from the some improvements and modifications under the utility model principle prerequisite, protection domain of the present utility model should be considered as.
Claims (6)
1. with the lift automatic vending machine of mechanical arm, comprise the vending machine main body being provided with outlet, described vending machine main body internal fixtion has goods suspender (1) and the control device in upper and lower arranging multiplayer goods road, Mei Cenghuo road all passes through backing plate (3) and is fixed in vending machine main body, described backing plate (3) slant setting, Mei Tiaohuo road is all provided with Fluency strip (4), in Fluency strip (4) top, be symmetrically arranged with Liang Tiaohuo road guide rod (5), the front end in described goods road guide rod (5) is provided with crotch (2), it is characterized in that: this automatic vending machine also includes lifting motor, translating device (6) and robot device (13), described translating device (6) includes the first bearing (7) and second bearing (8) of left and right cooperation, lifting motor coordinates with the first bearing (7) and/or the second bearing (8) transmission makes translating device (6) move up and down, described the first bearing (7) is fixed with horizontal motor (9), described the second bearing (8) is provided with power wheel (10), one circle belt (11) one end and horizontal motor (9) are in transmission connection, the other end is around on power wheel (10), slide block guide rail (12) is also provided with between described the first bearing (7) and the second bearing (8), described robot device (13) includes manipulator support (14), described manipulator support (14) bottom is fixed with pressure zone crotch (15) and cross sliding clock (16), described pressure zone crotch (15) is fixedly connected with belt (11), described cross sliding clock (16) is slidably arranged on slide block guide rail (12), described manipulator support (14) top is provided with mechanical arm (20), described manipulator support (14) is connected with the sliding plate (25) of mechanical arm (20) bottom by electric pushrod (17), described electric pushrod (17) can advance or retreat by promotion robot (20), described manipulator support (14) is also provided with slide (18), described sliding plate (25) bottom is fixed with advance and retreat slide block (19), described advance and retreat slide block (19) is slidably arranged on slide (18), , the interval, goods road that mechanical arm (20) level can be made to stretch into is provided with bottom described goods suspender (1) Mei Cenghuo road, described control device controls lifting motor, the duty of horizontal motor (9) and electric pushrod (17), described mechanical arm (20) includes picking pallet (21), be arranged on bearing seat (23) after described picking pallet (21) is fixing with pallet axle (22), described picking pallet (21) has two tray slots (27) passed for Shi Huo road guide rod (5), described picking pallet (21) is combined with extension spring (24), described extension spring (24) one end is fixed on picking pallet (21) side, one end is fixed on sliding plate (25), described picking pallet (21) is provided with pallet pin (26) relative to the opposite side of extension spring (24), described vending machine main body is provided with fixing lever at outlet place, when described picking pallet (21) arrives outlet place, the stroke that pallet pin (26) lived by described fixed gear pole spacing makes picking pallet (21) rotate around pallet axle (22).
2. the lift automatic vending machine with mechanical arm according to claim 1, is characterized in that: described the first bearing (7) or the second bearing (8) are provided with the pick-up unit (28) for inspecting manipuator (20) horizontal level.
3. the lift automatic vending machine with mechanical arm according to claim 2, is characterized in that: described pick-up unit (28) is optoelectronic switch.
4. the lift automatic vending machine with mechanical arm according to claim 3, it is characterized in that: described horizontal motor (9) is for exchanging brake motor, and this horizontal motor (9) is in transmission connection by reducer casing and belt (11).
5. the lift automatic vending machine with mechanical arm according to claim 4, is characterized in that: described pallet pin (26) end is provided with bending head.
6. the lift automatic vending machine with mechanical arm according to claim 5, is characterized in that: described control device is single-chip microcomputer or programmable logic controller (PLC).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420751444.4U CN204256833U (en) | 2014-12-04 | 2014-12-04 | With the lift automatic vending machine of mechanical arm |
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| CN201420751444.4U CN204256833U (en) | 2014-12-04 | 2014-12-04 | With the lift automatic vending machine of mechanical arm |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104361683A (en) * | 2014-12-04 | 2015-02-18 | 南京航空航天大学 | Ascending and descending type vending machine with mechanical hand and work method of ascending and descending type vending machine |
| CN106743034A (en) * | 2017-01-18 | 2017-05-31 | 上海机商实业有限公司 | A kind of Commodity Transportation device |
| CN106934932A (en) * | 2015-12-30 | 2017-07-07 | 蔡异 | A kind of vending machine picking mechanism suitable for various goods |
| CN107134055A (en) * | 2017-05-17 | 2017-09-05 | 青岛澳柯玛自动售货机股份有限公司 | A kind of goods material road and automatic vending machine |
| CN107963380A (en) * | 2017-11-22 | 2018-04-27 | 江苏长虹智能装备集团有限公司 | A kind of intelligent storage shelf |
| CN108765736A (en) * | 2018-08-24 | 2018-11-06 | 钟高锋 | A kind of tray that connects based on double modular structures pushes away goods device |
| CN108968671A (en) * | 2018-08-03 | 2018-12-11 | 杭州湘甬机械设备有限公司 | A kind of collection, which selects, washes, cutting, fries integral type large size cooks device |
| CN109166237A (en) * | 2018-08-20 | 2019-01-08 | 南京甘时智能科技有限公司 | A kind of automatic vending machine picking mechanism |
| CN109544787A (en) * | 2019-01-09 | 2019-03-29 | 张小斌 | Face box is transferred from movable pendulum correction method |
| CN110335416A (en) * | 2019-08-22 | 2019-10-15 | 天津市联创蔚莱科技发展有限公司 | Automatic vending machine |
| CN110796782A (en) * | 2018-08-01 | 2020-02-14 | 山东新北洋信息技术股份有限公司 | Automatic vending machine and goods channel goods delivery method thereof |
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2014
- 2014-12-04 CN CN201420751444.4U patent/CN204256833U/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104361683B (en) * | 2014-12-04 | 2016-07-13 | 南京航空航天大学 | Lift automatic vending machine and method of work thereof with mechanical hand |
| CN104361683A (en) * | 2014-12-04 | 2015-02-18 | 南京航空航天大学 | Ascending and descending type vending machine with mechanical hand and work method of ascending and descending type vending machine |
| CN106934932A (en) * | 2015-12-30 | 2017-07-07 | 蔡异 | A kind of vending machine picking mechanism suitable for various goods |
| CN106743034B (en) * | 2017-01-18 | 2019-07-02 | 上海机商实业有限公司 | A kind of Commodity Transportation device |
| CN106743034A (en) * | 2017-01-18 | 2017-05-31 | 上海机商实业有限公司 | A kind of Commodity Transportation device |
| CN107134055A (en) * | 2017-05-17 | 2017-09-05 | 青岛澳柯玛自动售货机股份有限公司 | A kind of goods material road and automatic vending machine |
| CN107963380B (en) * | 2017-11-22 | 2020-01-14 | 江苏长虹智能装备股份有限公司 | Intelligent storage goods shelf |
| CN107963380A (en) * | 2017-11-22 | 2018-04-27 | 江苏长虹智能装备集团有限公司 | A kind of intelligent storage shelf |
| CN110796782A (en) * | 2018-08-01 | 2020-02-14 | 山东新北洋信息技术股份有限公司 | Automatic vending machine and goods channel goods delivery method thereof |
| US11361609B2 (en) | 2018-08-01 | 2022-06-14 | Shandong New Beiyang Information Technology Co., Ltd. | Vending machine and item channel delivery method |
| CN108968671A (en) * | 2018-08-03 | 2018-12-11 | 杭州湘甬机械设备有限公司 | A kind of collection, which selects, washes, cutting, fries integral type large size cooks device |
| CN108968671B (en) * | 2018-08-03 | 2020-11-06 | 汤立节 | Integrated large-scale cooking device for selecting, washing, cutting and frying |
| CN109166237A (en) * | 2018-08-20 | 2019-01-08 | 南京甘时智能科技有限公司 | A kind of automatic vending machine picking mechanism |
| CN108765736A (en) * | 2018-08-24 | 2018-11-06 | 钟高锋 | A kind of tray that connects based on double modular structures pushes away goods device |
| WO2020037691A1 (en) * | 2018-08-24 | 2020-02-27 | 钟高峰 | Double-module structure-based commodity pushing device for commodity receiving tray |
| CN108765736B (en) * | 2018-08-24 | 2023-08-15 | 钟高锋 | Pallet receiving and pushing device based on dual-module structure |
| CN109544787A (en) * | 2019-01-09 | 2019-03-29 | 张小斌 | Face box is transferred from movable pendulum correction method |
| CN109544787B (en) * | 2019-01-09 | 2021-02-19 | 张小斌 | Automatic setting method for noodle box transmission |
| CN110335416A (en) * | 2019-08-22 | 2019-10-15 | 天津市联创蔚莱科技发展有限公司 | Automatic vending machine |
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