CN210924753U - Vending machine output auxiliary device and vending machine - Google Patents
Vending machine output auxiliary device and vending machine Download PDFInfo
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- CN210924753U CN210924753U CN202020318322.1U CN202020318322U CN210924753U CN 210924753 U CN210924753 U CN 210924753U CN 202020318322 U CN202020318322 U CN 202020318322U CN 210924753 U CN210924753 U CN 210924753U
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- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 11
- 238000000034 method Methods 0.000 abstract description 9
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- 238000012423 maintenance Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000006698 induction Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000013024 troubleshooting Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 2
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Abstract
The utility model provides a vending machine output auxiliary device and vending machine relates to the vending machine field, including linear motion mechanism and push rod, the linear motion mechanism cooperation has actuating mechanism, and linear motion mechanism includes slide rail and slider, the push rod is installed on the slider, actuating mechanism passes through drive mechanism drive slider and push rod and follows slide rail reciprocating motion jointly, the push rod is used for promoting the commodity that is stuck when the vending machine shipment to make commodity drop to the shipment mouth, set up corresponding detection device in shipment mouth position, and the configuration push rod is in material way the place ahead space, when judging that shipment in-process goods is blocked by the vending machine, the push rod moves down, promotes commodity whereabouts, thereby makes commodity fall into the shipment mouth, accomplishes getting rid of trouble, has improved the efficiency of getting rid of trouble when blocking to commodity.
Description
Technical Field
The utility model relates to a vending machine field, in particular to vending machine output auxiliary device and vending machine.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The vending machine is a common commercial automation device, the existing vending machine is continuously developed towards informatization and further realizes rationalization, and various types are generated; the shortage of human resources is fully supplemented, and the consumption environment and the consumption mode are adapted to change.
The inventor finds that although the intelligent degree of the existing vending machine is gradually improved, the situations of the system state, the system fault, the material channel fault, the lack of goods and the like of the vending machine can be collected in real time and then transmitted to the network server, when the vending machine breaks down, only alarm information can be sent to inform maintenance personnel to carry out troubleshooting and processing on the fault at present, the maintenance personnel need to carry out maintenance on the vending machine on site, the efficiency of fault removal is low, the use experience of consumers is poor, for some small faults, for example, when the material channel type vending machine is blocked in the goods falling process, the materials cannot reach the hands of the consumers, the time for waiting the maintenance personnel is long, and the faults cannot be removed in time; in addition, once commodity is blocked, occupy the shipment mouth space, follow-up commodity that drops can be blocked more easily, leads to the unable normal operating of vending machine.
SUMMERY OF THE UTILITY MODEL
The utility model aims at the defect that prior art exists, provide a vending machine output auxiliary device and vending machine, set up corresponding detection device in shipment mouth position to the configuration push rod is in vending machine material way the place ahead space, when judging that shipment in-process goods is blocked, the push rod moves down, promotes the commodity whereabouts, thereby makes commodity fall into the shipment mouth, accomplishes getting rid of trouble, has improved the efficiency of getting rid of trouble when blocking to commodity.
The first purpose of this disclosure is to provide a vending machine output auxiliary device, adopts following technical scheme:
including linear motion mechanism and push rod, linear motion mechanism has actuating mechanism in the cooperation, and linear motion mechanism includes slide rail and slider, the push rod is installed on the slider, actuating mechanism passes through drive mechanism drive slider and push rod and follows slide rail reciprocating motion jointly, the push rod is used for promoting the commodity of being stuck when the vending machine shipment to make commodity drop to the shipment mouth.
Further, the linear motion mechanism is matched with the transmission mechanism, the transmission mechanism is a lead screw slider mechanism, the driving slider corresponding to the lead screw slider mechanism is matched with the slider of the linear motion mechanism to move synchronously, and the lead screw corresponding to the lead screw slider mechanism is matched with the driving mechanism.
Furthermore, the linear motion mechanism comprises two sets of slide rails which are oppositely arranged, the slide rails are respectively matched with slide blocks, and two ends of the push rod are respectively butted with the two slide blocks.
Furthermore, the screw rod sliding block mechanism is matched with one group of sliding rails and sliding blocks, and the other group of sliding blocks are driven by the push rod to move along the corresponding sliding rails.
The vending machine further comprises a detection module, wherein the sensing area of the detection module covers the outlet area of the vending machine, whether goods exist in the goods outlet area is detected after a goods outlet instruction of the vending machine is sent to the controller, and whether the goods are clamped or not is judged.
Further, the controller is respectively electrically connected with the detection module and the driving mechanism and is used for controlling the working state of the driving mechanism.
A second object of the present disclosure is to provide a vending machine, including the vending machine commodity output auxiliary device as described above, further including the following solutions:
the vending machine comprises a display cabinet, the cabinet comprises glass door plates and a goods discharging channel which are arranged at intervals, the linear motion mechanism is arranged on the side surface of the gap between the glass door plates and the goods discharging channel, and the push rod is located between the glass door plates and the goods discharging channel.
Further, the shipment mouth of vending machine is located the below that the shipment was said, and the clearance between intercommunication glass door plant and the shipment material was said for receive the commodity that drops.
Furthermore, one side of the push rod, which is used for pushing commodities, is an arc-shaped surface, and a gap is reserved between the push rod and a goods outlet channel of the vending machine.
Compared with the prior art, the utility model has the advantages and positive effects that:
(1) the goods outlet position is detected through the detection module, whether goods fall from the goods outlet within a certain time after goods are delivered is obtained, whether the goods fall off is judged, and after the goods are judged to be clamped, the push rod is moved to enable the push rod to move to cover the whole goods falling path, the clamped goods on the path are pushed, the goods can fall off, and therefore faults are eliminated;
(2) by detecting the goods output condition of the goods output port and matching with the goods output information of the vending machine, within a period of time after normal goods output, if the goods are not detected to fall off, the goods can be judged to be blocked; because the channel between the goods outlet and the goods outlet channel is completely covered by the movable push rod, the push rod which moves in a scanning mode can be used for pushing the clamped goods from the goods outlet channel, and the efficiency of troubleshooting is improved;
(3) the part of the lower side of the push rod for pushing the commodity is an arc-shaped surface, so that the damage of the push rod to the commodity can be effectively reduced when the commodity is pushed, and the damage of the commodity caused by scratching the commodity package by structures such as ridges and the like is avoided; a gap is reserved between the push rod and the goods discharging channel of the vending machine, so that the interference of the push rod and the goods discharging channel in the moving process is avoided, and the moving smoothness and the moving safety of the push rod are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is a schematic structural diagram of a push rod device in embodiments 1, 2, and 3 of the present disclosure;
fig. 2 is a schematic structural diagram of a push rod in embodiments 1, 2, and 3 of the present disclosure;
fig. 3 is a schematic structural diagram of a lead screw slider mechanism in embodiments 1, 2, and 3 of the present disclosure;
fig. 4 is a schematic diagram of the proximity switch according to embodiments 1, 2, and 3 of the present disclosure;
fig. 5 is a schematic diagram of a control principle in embodiments 1, 2, and 3 of the present disclosure;
fig. 6 is a schematic flow chart of the operation of the push rod in embodiments 1, 2, and 3 of the present disclosure.
In the figure, 1-an upper baffle, 2-a movable sliding block, 3-a guide sliding block, 4-a sliding rail, 5-a sliding table, 6-a screw rod, 7-a lower baffle, 8-a coupler, 9-a motor, 10-a proximity switch, 11-a proximity switch induction plate, 12-a lead wire, 13-a processor, 14-a detection module, 15-a push rod, 16-a screw rod sliding block mechanism and 17-a driving mechanism.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "left" and "right" in this disclosure, if any, merely indicate that the directions of movement are consistent with those of the figures themselves, and are not limiting in structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present disclosure.
As introduced in the background art, in the prior art, when a material channel type vending machine is blocked in the process of dropping goods, the goods cannot reach the hands of consumers, and the time for waiting for maintenance personnel is long, so that the faults cannot be eliminated in time; in addition, in case commodity are blocked, occupy the shipment mouth space, follow-up commodity that drops can more easily be blocked, lead to the unable normal operating of vending machine, to above-mentioned problem, this disclosure provides a vending machine output auxiliary device and vending machine.
Example 1
In an exemplary embodiment of the present disclosure, as shown in fig. 1-6, a vending machine output aid is provided.
The problem of commodity card production trouble is blocked when going out goods to present vending machine, for the efficiency that improves this type of troubleshooting, improves consumer's shopping experience to reduce the maintenance frequency of dimension guarantor personnel to the vending machine, need set up corresponding anti-sticking mechanism to the vending machine, utilize anti-sticking mechanism to judge and in time solve the problem that the goods blocked.
In this embodiment, an output auxiliary device of a vending machine is provided, which includes a push rod 15 and a detection module 14, the push rod is matched with a linear motion mechanism, the linear motion mechanism is matched with a driving mechanism 17, the push rod moves under the driving of the driving mechanism, the detection module is used for detecting whether goods are on a goods outlet of the vending machine or not, and transmitting data to a controller, the controller judges whether the goods normally drop or not according to a detection result, controls the push rod to stop or move, and pushes the goods to be blocked to drop to the goods outlet of the vending machine when the push rod moves;
the linear motion mechanism comprises a slide rail and a slide block which are matched with each other and is connected with the driving mechanism through a transmission mechanism, the transmission mechanism adopts a lead screw slide block mechanism 16 and is provided with a proximity switch, the lead screw slide block mechanism comprises a driving slide block and a lead screw which are matched with each other, the driving slide block is butted with the slide block, a push rod is arranged on the slide block, the driving mechanism is matched with the lead screw, the proximity switch is arranged at two ends of a moving path of the push rod, and an induction area of the detection module covers a goods outlet area of the vending machine and is electrically connected with the controller; the driving mechanism drives the lead screw to rotate, so that the push rod mounted on the sliding block is driven to move, the proximity switch limits the maximum range of movement of the push rod, the detection module detects whether the goods drop from the goods outlet and sends detection data to the controller, and the controller controls the movement of the push rod according to detection information and the goods outlet state;
of course, it can be understood that the push rod may also be directly engaged with the driving slider corresponding to the screw slider mechanism, and the slider and the slide rail serve as constraints.
Detect the shipment mouth position through detection module, obtain the shipment mouth or have commodity to drop in the certain time after commodity shipment to judge whether normally dropping of commodity, after judging commodity is blocked, remove the push rod and make the push rod remove and cover whole goods route that drops, promote the commodity that is stuck on this route, make commodity can drop, thereby troubleshooting.
Specifically, the screw rod sliding block mechanisms are in a group, one end of the push rod drives the push rod to move, and the other end of the push rod serves as a driven end to play a role in assisting in constraining a track;
in other embodiments, the two screw rod sliding block mechanisms can be arranged into two groups, two screw rods are arranged in parallel, two ends of the push rod are respectively installed on the two driving sliding blocks, and the screw rods rotate to drive the driving sliding blocks to move along the axial direction of the screw rods, so that the push rod is driven to move along the axial direction of the screw rods; when the rotation directions of the screw rods are different, the corresponding moving directions of the push rods are changed, and the push rods ascend or descend, so that the reciprocating motion of the push rods is realized; at the moment, the slide rail and the slide block are matched with each other to be used as a guide slide rail and a guide slide block;
of course, it can be understood that the screw slider mechanism is further provided with corresponding matching elements, which include an upper baffle 1, a movable slider 2, a guide slider 3, a slide rail 4, a sliding table 5, a screw 6, a lower baffle 7 and a coupler 8; the screw rod is butted with the driving mechanism through a coupler, so that torque rotation is obtained;
the lead screw 6 can be a ball screw, the lead screw and the movable sliding block 2 realize relative motion through balls, so that the movable sliding block 2 moves up and down along the lead screw 6, the movable sliding block 6 is fixed with the guide sliding block 3, and the guide sliding block 3 is connected to the slide rail 4, so that the movable sliding block 6 drives the guide sliding block 3 to move up and down relative to the slide rail;
the upper baffle and the lower baffle are respectively arranged at two ends of the sliding table and are matched with bearing seats, two ends of the lead screw are respectively installed on the bearing seats corresponding to the upper baffle and the lower baffle through bearings, the sliding rail is arranged along the sliding table, and the sliding rail is used for further restricting the movement path of the movable sliding block.
For the driving mechanism, the lead screw is matched with the driving mechanism, and the driving mechanism drives the lead screw to synchronously rotate so as to drive the two ends of the push rod to synchronously move;
the driving mechanism can be arranged into one, and the two screw rods are driven to rotate simultaneously by the transmission mechanism; two driving mechanisms can be selected to respectively drive the screw rods to rotate and control the two driving mechanisms to synchronously output, so that the two screw rods synchronously rotate and drive the two ends of the push rod to synchronously move;
it can be understood that the driving mechanism can be a motor 9, the motor is fixed on the lower baffle, and an output shaft of the motor is in butt joint with the coupling to drive the screw rod to rotate; in this embodiment, the motor is a stepping motor, is electrically connected with the controller, rotates under the control of the controller, and correspondingly adjusts the rotating speed and the rotating direction;
the driving mechanism is provided with a corresponding forward and reverse rotation module, and an A4988 stepping motor is adopted to drive a module chip; the A4988 stepping motor driving module chip can operate a bipolar stepping motor in full, half, 1/4, 1/8 and 1/16 stepping modes, the output driving performance can reach 35V and +/-1A, and the current of each of two output full bridges and all N-channel DMOSFETs is regulated by a fixed turn-off time PWM control circuit. The positive and negative rotation control and the PWM speed regulation control of the motor can be realized.
The proximity switch is a proximity switch module which comprises a proximity switch 10, a proximity switch induction plate 11 and a lead 12 which are arranged in a matched mode, wherein the proximity switch and the proximity switch induction plate are respectively arranged at a moving position and a static position;
in this embodiment, the proximity switch induction plate 11 is fixed on the movable slider 2, proximity switches are arranged at two ends of a running path of the push rod and used for limiting a stroke of the slider for driving the push rod to move, the proximity switch 10 is connected with the driving mechanism through a lead 12, and the proximity switch 10 is fixed on a sliding table of a ball screw linear slide rail; the travel of the movable sliding block can be restricted by utilizing the proximity switch, so that safety protection is realized.
For the detection module, whether goods exist in a goods outlet area is detected after a goods outlet instruction of the vending machine is sent to the controller, whether the goods are clamped or not is judged, the installation position is not limited, and as long as the sensing area can cover the goods outlet area, the normal operation of the vending machine cannot be interfered;
in this embodiment, the detecting device 14 is installed above the lower baffle 7, i.e. above the cargo outlet, at a position where the cargo is easily caught, and detects whether the cargo is caught; it will be appreciated that the operative element of the detection module 14 may be a photoelectric sensor or an infrared sensor.
The controller comprises a corresponding processor 13, is electrically connected with each element, receives and processes data and outputs a control command;
in this embodiment, the controller uses an Arduino control board as a control core, and adopts an Arduino control board with the model number of ATmega32u4, so that the controller has the characteristics of high performance and low energy consumption, the capacity of a flash memory is 32KB, the capacity of an EEPROM is 1KB, and the controller can realize the forward and reverse rotation control of the servo motor by externally outputting the PWM of six channels.
By detecting the goods output condition of the goods output port and matching with the goods output information of the vending machine, within a period of time after normal goods output, if the goods are not detected to fall off, the goods can be judged to be blocked; because the passageway between shipment mouth and the shipment material way is covered by the push rod that removes completely, consequently, utilize the push rod that the scanning formula removed can realize saying the promotion of the commodity of being blocked between the shipment mouth to the material, improve the efficiency of troubleshooting.
For the push rod structure, a rod piece or a plate piece and other structures can be selected, two ends of the push rod structure are respectively butted with the sliding blocks of the screw rod sliding block mechanism, one side of the push rod for pushing the commodities is an arc-shaped surface, and a gap is reserved between the push rod and a goods outlet channel of the vending machine;
the part of the lower side of the push rod for pushing the commodity is an arc-shaped surface, so that the damage of the push rod to the commodity can be effectively reduced when the commodity is pushed, and the damage of the commodity caused by scratching the commodity package by structures such as ridges and the like is avoided; a gap is reserved between the push rod and the goods discharging channel of the vending machine, so that the interference of the push rod and the goods discharging channel in the moving process is avoided, and the moving smoothness and the moving safety of the push rod are improved.
Example 2
In another exemplary embodiment of the present disclosure, as shown in fig. 1-6, a vending machine is provided that utilizes the vending machine output aid as described in embodiment 1.
The vending machine output auxiliary device is installed inside the vending machine, the vending machine comprises a display cabinet, the cabinet comprises glass door plates and a goods discharging channel which are arranged at intervals, a linear motion mechanism is arranged on the side surface of a gap between the glass door plates and the goods discharging channel, a push rod is positioned between the glass door plates and the goods discharging channel, the whole material channel area is transversely covered, when the push rod axially reciprocates along a lead screw, a path along which goods fall can be covered, and therefore when the goods fall and are clamped, the push rod can move to the position to remove faults;
the goods outlet of the vending machine is positioned below the goods outlet channel, and is communicated with the gap between the glass door plate and the goods outlet channel and used for receiving dropped goods.
Example 3
In yet another exemplary embodiment of the present disclosure, as shown in fig. 1-6, a method of operating a vending machine is provided, utilizing the vending machine as described in embodiment 2.
The method comprises the following steps:
when the output auxiliary device of the vending machine in the vending machine is in standby, the push rod 15, the moving slide block 2 and the guide slide block 3 are positioned at the upper proximity switch 10;
the controller is electrically connected with the vending machine main controller, goods output information of goods is acquired from the main controller, and after goods are output from the vending machine material channel, the detection module detects whether the goods fall to the goods output port;
if the goods do not successfully fall to the goods outlet, the detection module 14 sends a signal, the driving mechanism 17 directly or after receiving the signal through the controller 13 sends a forward rotation instruction to the motor 9, the moving slide block 2 and the guide slide block are driven to drive the push rod 15 to move downwards, and acting force is applied to the goods to push the goods down;
when the movable sliding block 2 moves to the lower proximity switch 10, the proximity switch 10 senses the proximity switch sensing plate 11, so that the driving mechanism 17 directly or through the controller 13 sends a reverse rotation instruction to the motor 9 to drive the movable sliding block 2 and the guide sliding block to drive the push rod 15 to move upwards;
when the movable sliding block 2 moves to the upper proximity switch 10, the proximity switch 10 senses the proximity switch sensing plate 11, so that the driving mechanism 17 directly or through the controller 13 sends a stop instruction to the motor 9, the motor stops rotating, and the push rod I, the movable sliding block 2 and the guide sliding block 3 return to the initial positions;
in other cases, the output auxiliary device of the vending machine is not activated as the amount of noise.
Of course, it will be appreciated that the pusher force is 10N to ensure that the goods are not damaged while being pushed down.
The vending machine output auxiliary device in the vending machine is provided with the positive and negative rotation module through the driving mechanism 17, the detection device 14 and the controller 13 are matched for use, the problem of clamping goods which possibly occur is solved, the structure is simple and effective, manual operation of consumers is not needed, damage to the vending machine is avoided, and the vending machine output auxiliary device is simple, convenient and quick.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (10)
1. The utility model provides a vending machine commodity output auxiliary device, its characterized in that includes linear motion mechanism and push rod, the linear motion mechanism cooperation has actuating mechanism, and linear motion mechanism includes slide rail and slider, the push rod is installed on the slider, actuating mechanism passes through drive mechanism drive slider and push rod and follows slide rail reciprocating motion jointly, the push rod is used for promoting the commodity that is held by the card when the vending machine shipment to make commodity drop to the shipment mouth.
2. The commodity output auxiliary device for vending machine as claimed in claim 1, wherein said linear motion mechanism is engaged with a transmission mechanism, said transmission mechanism is a screw slider mechanism, a driving slider corresponding to said screw slider mechanism is engaged with a slider of said linear motion mechanism for synchronous motion, and a screw corresponding to said screw slider mechanism is engaged with said driving mechanism.
3. The commodity output auxiliary device of a vending machine as claimed in claim 2, wherein said linear motion mechanism comprises two sets of oppositely disposed slide rails, and the slide rails are respectively fitted with slide blocks, and two ends of said push rod are respectively butted with the two slide blocks.
4. The auxiliary device for commodity output of vending machine as recited in claim 3, wherein said screw-slider mechanism cooperates with one of said sets of slide rails and said slider to move said other set of slide rails along said corresponding set of slide rails via said push rod.
5. The vending machine product output aid of claim 1, further comprising a detection module, wherein the sensing area of the detection module covers an outlet area of the vending machine, detects whether goods are in the outlet area of the vending machine after a vending command, and sends a signal to the controller to determine whether the goods are jammed.
6. The vending machine product output aid of claim 5, wherein the controller is electrically coupled to the detection module and the drive mechanism, respectively, for controlling an operational state of the drive mechanism.
7. A vending machine, characterized in that a vending machine commodity output aid as claimed in any one of claims 1 to 6 is installed.
8. The vending machine of claim 7, wherein the vending machine comprises a display cabinet, the cabinet comprising spaced apart glass door panels and a product discharge channel, the linear motion mechanism disposed laterally of a gap between the glass door panels and the product discharge channel, the push rod positioned between the glass door panels and the product discharge channel.
9. The vending machine of claim 8, wherein the product outlet of the vending machine is positioned below the product channel and communicates with the gap between the glass door panel and the product channel for receiving dropped products.
10. The vending machine of claim 9, wherein a side of the pusher for pushing the product is arcuate, and a gap is provided between the pusher and the product discharge path of the vending machine.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020318322.1U CN210924753U (en) | 2020-03-13 | 2020-03-13 | Vending machine output auxiliary device and vending machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020318322.1U CN210924753U (en) | 2020-03-13 | 2020-03-13 | Vending machine output auxiliary device and vending machine |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112927430A (en) * | 2021-01-28 | 2021-06-08 | 湖南擎谱数字科技有限公司 | Prevent storage device and intelligent robot of selling goods of stifled goods |
| CN112950852A (en) * | 2021-01-28 | 2021-06-11 | 湖南擎谱数字科技有限公司 | Goods storage device for vending robot and intelligent vending robot |
| CN112950851A (en) * | 2021-01-28 | 2021-06-11 | 湖南擎谱数字科技有限公司 | Automatic vending robot and control method thereof |
| CN113409519A (en) * | 2021-07-24 | 2021-09-17 | 深圳市道中创新科技有限公司 | Intelligent vending machine |
| CN114023000A (en) * | 2021-04-16 | 2022-02-08 | 湖南擎谱数字科技有限公司 | Vending machine robot anti-blocking method |
-
2020
- 2020-03-13 CN CN202020318322.1U patent/CN210924753U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112927430A (en) * | 2021-01-28 | 2021-06-08 | 湖南擎谱数字科技有限公司 | Prevent storage device and intelligent robot of selling goods of stifled goods |
| CN112950852A (en) * | 2021-01-28 | 2021-06-11 | 湖南擎谱数字科技有限公司 | Goods storage device for vending robot and intelligent vending robot |
| CN112950851A (en) * | 2021-01-28 | 2021-06-11 | 湖南擎谱数字科技有限公司 | Automatic vending robot and control method thereof |
| CN114023000A (en) * | 2021-04-16 | 2022-02-08 | 湖南擎谱数字科技有限公司 | Vending machine robot anti-blocking method |
| CN114022997A (en) * | 2021-04-16 | 2022-02-08 | 湖南擎谱数字科技有限公司 | Goods loading device of vending robot and vending robot |
| CN114023000B (en) * | 2021-04-16 | 2023-10-31 | 湖南克拉宇宙数字科技有限公司 | Anti-blocking method for vending machine robot |
| CN113409519A (en) * | 2021-07-24 | 2021-09-17 | 深圳市道中创新科技有限公司 | Intelligent vending machine |
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