EP3460768A1 - Vending machine - Google Patents

Abstract

The invention relates to a vending machine having a plurality of goods shafts arranged side by side in the horizontal direction (X-direction), each having a vertically aligned (Y-direction) stack of product boxes, a control unit which is adapted to hold one on an XY conveyor. Linear actuator (32) suspended ejector (34) to move to a selected box and operate the ejector to push the selected box perpendicular to the XY plane and out of the stack, characterized in that the ejector rotatable about a vertical axis of rotation Pivoting arm (50) and having a drive for rotation at controllable speed, and in that the control unit is adapted to during the process of the ejector by the XY linear drive to the selected box with the drive stopped to keep the rotary arm (50) in a direction of rest horizontally oriented rest position, when the shear end (52) of the rotary arm (50) remote from its axis of rotation has reached a position opposite a central area of the rear surface of the selected box, operating the XY linear drive exclusively in a horizontal direction and at the same time starting the drive to rotate the rotary arm (50); 50) with time-controlled so controlled speed that superimposed by the horizontal linear movement and the rotational movement of the rotary arm, the thrust end (52) rests in the X direction or its movement in the X direction is below a predetermined threshold and the thrust end so in Appendix remains at the central region of the rear surface, while the box is thereby pushed forward by the rotation of the rotary arm in a direction perpendicular to the XY plane position and out of the stack.

Description

The invention relates to a vending machine with a housing, a plurality of therein in the horizontal direction (X direction) juxtaposed goods shafts for receiving in the vertical direction (Y direction) aligned stacks of commodity boxes, a selection unit for entering a goods selection, a payment unit, a control unit configured, responsive to the feedback of the payment unit, that a sufficient amount has been paid for the goods selection, to move an ejector suspended from an XY linear drive to a selected box and operate the ejector to select the selected box to advance perpendicular to the XY plane and push out of the stack so that it passes in an output tray under the goods shafts.

Vending machines have been known for a long time. In the simplest form several shafts are arranged side by side in a housing lying, each shed is filled with a stack of boxes a kind of goods. Each goods shaft can be provided below with a discharge tray. In this simplest form, vending machines for cigarette packs have been known for decades.

In addition, more complex concepts have been developed for ejection mechanisms for vending machines, which allow a much more flexible operation of the vending machines. Such a vending machine on which the preamble of claim 1 is based is known in DE 20 2009 013 028 U1 described. The vending machine has a housing in a plurality of horizontally juxtaposed goods shafts for receiving vertical stacks of commodity boxes. A selection unit for entering a goods selection and a payment unit are designed in the usual way. Essential for the concept of this vending machine is the ejection mechanism, which has an XY linear drive and an ejector suspended thereon. By means of the XY linear drive, the ejector can be moved over the entire end face of the adjacent goods shafts in the horizontal direction (X-direction) and vertical direction (Y-direction) and thereby controllable to any selected box from the plurality of commodity boxes in the side by side lying manholes and act on the selected box to push them forward and out of the stack of goods, so that it passes into a lying under the goods shafts output tray.

Furthermore, a camera can be suspended on the XY linear drive which, by means of the XY linear drive, can also travel the entire end face of the juxtaposed stacks of goods. The camera is connected to the control unit, and the control unit is adapted to run at least after a new filling of the goods shafts an entire face of the goods shafts with the camera by operating the XY linear drive and evaluate the images of the camera under identification of each variety and each storing the variety information together with the associated location information of the XY linear drive as a sort-location mapping function. In this way, the vending machine after a new filling automatically capture the inventory in the goods shafts and store in a mapping function (eg a table), at which vertical position in which goods which stock is available. The control unit is then further prepared, when selecting a particular grade, to search the sort-location allocation function and to move the ejector by operating the XY linear drive to a location where a commodity box of the selected grade is determined the sort-place mapping function, and output a box of the selected variety by means of the ejector.

Such a vending machine allows a much more flexible operation. For example, there is no need to have an allocated goods bin for each type of goods, since the types of goods can generally be distributed in any desired way in the product bins. This also makes it possible to accommodate less demanded varieties only in small quantities in the vending machine; For such a variety, which is only available with a few cartons of goods, no separate goods shaft must be reserved. In this way, a total of more types of goods can be filled in the vending machines as goods shafts are available.

At the in DE 20 2009 013 028 U1 described vending machine two embodiments are described for the ejector. In a first embodiment, the ejector is provided with an elongate, thin web which can be advanced by a drive in the Z direction perpendicular to the X and Y directions (horizontal and vertical directions) to the goods shafts. The web is driven by the XY linear drive exactly on the intermediate area between two superimposed boxes and then pushed through between the two boxes until a barb located at its front end reaches the opposite end of the box. By subsequently retracting the web, the box can be pulled out of the stack.

In the second embodiment, the ejector includes a plunger that is movable perpendicular to the XY plane. The XY linear actuator moves the ram in the XY direction so that it is centered behind the box of the selected grade. The plunger is then advanced in the Z direction and pushes through the box in front of and out of the stack. In both of the described embodiments, the ejector element must be at least the length of the cartons in the longitudinal direction in order to be able to carry such a carton all the way out of the stack. With unactuated ejector of the web or the plunger with this length is in the Z-direction extending in front of or behind the goods shafts. This means that space in the housing is still required in front of or behind the end faces of the goods boxes in the goods shafts, which corresponds at least to the length of the plunger or the web and thus at least the length of the boxes in the Z direction; Thus, in addition to the space for the goods boxes at least once again so much space for the ejector in the housing of the vending machine is needed.

It is an object of the present invention to improve a vending machine of the type described so that less space for the ejector is needed and the vending machine can therefore be made more compact or can accommodate more product boxes for a given size.

To solve this problem, the sales office with the features of claim 1. Advantageous embodiments of the invention are set forth in the dependent claims.

According to the invention, the ejector has a rotatable about a vertical axis of rotation rotary arm (rotary ram) and a drive therefor, which can drive the rotary arm with controllable speed for rotation. The control unit is now set up to control the operation of the XY linear drive and the drive for the rotary arm so that
held during the process of the ejector to the selected box of the rotary arm with the drive stopped in a direction of travel horizontally oriented rest position is, ie the rotary arm has a minimal extension in the Z direction and extends with its longitudinal direction exclusively in the horizontal direction,
when the push end of the rotary arm remote from its rotation axis has reached a position opposite to a central portion of the rear surface of the selected box, the XY linear actuator is driven exclusively in the horizontal direction and at the same time the drive of the rotary arm is started to drive the rotary arm at a speed so timed rotate that superimposed by the horizontal linear movement and the rotational movement of the rotary arm, the thrust end rests in the X direction or its movement in the X direction below a predetermined threshold, so that the thrust end comes into contact with the central region of the rear surface and there at the further rotation remains in abutment. The predetermined threshold of movement in the X direction is chosen such that the threshold is significantly less than the extension of the rear surface in the X direction, so that the thrust end of the rotary arm remains in abutment against a central region of the rear surface in the X direction.

In other words, the controlled-speed rotary arm is rotated so that, as the horizontal movement of the ejector through the XY linear actuator continues, it comes into abutment with a central portion of the rear surface of the box by rotation, and the rotation is controlled with time-controlled speed continued so that the thrust end remains in abutment with the central portion of the rear surface and the carton is pushed forward and out of the stack by the rotation of the pivot arm through the thrust end.

1. a) Die horizontale Bewegung durch den XY-Linearantrieb wird ununterbrochen fortgesetzt und gleichzeitig die Drehung des Dreharms durch die Steuerung des Antriebs ununterbrochen fortgesetzt, bis er wieder eine Ausrichtung in horizontaler Richtung, nun entgegengesetzt der Fahrtrichtung des XY-Linearantriebs hat und der Dreharm durch Stoppen des Antriebs in dieser Stellung angehalten. Eine solche Auswurfsoperation findet "im Vorbeifahren" statt.
2. b) Durch Umkehr der X-Fahrrichtung durch den XY-Linearantrieb und durch Umkehr der Drehrichtung des Dreharms durch den Antrieb führt der Dreharm eine zeitlich umgekehrte Dreh- und Linearbewegung aus, bis er wieder die Ausgangsposition erreicht.

When the selected box is pushed out and the pivot arm reaches a position perpendicular to the XY plane, there are basically two ways to continue the movement of the pivot arm:

1. a) The horizontal movement through the XY linear drive is continuously continued while the rotation of the rotary arm by the control of the drive continues uninterrupted until he again has an orientation in the horizontal direction, now opposite to the direction of travel of the XY linear drive and the rotary arm by stopping the drive stopped in this position. Such ejection operation takes place "while driving by".
2. b) By reversing the X travel direction by the XY linear drive and by reversing the direction of rotation of the rotary arm by the drive of the rotary arm performs a reversed rotational and linear movement until it reaches the starting position again.

In the first case, rotation of the rotary arm by the drive and horizontal linear movement by the XY linear drive continue uninterrupted. The rotation of the rotary arm by the drive is continued until the rotary arm has reached a horizontally oriented rest position opposite to the direction of travel of the XY linear drive in the horizontal direction, and stopped the drive in this position.

The rotary arm is therefore operated by the control unit so that, when it moves horizontally past the selected box, its thrust end bears against a central region of the rear surface of the box, thereby advancing the box by the rotation in the Z direction. In this case, the speed of rotation of the rotary arm is controlled so that it remains in abutment in a central region of the rear surface during the further rotation, ie the thrust end of the rotary arm does not move in the XY plane or only very slowly over the rear surface, so that the thrust end remains substantially in the central area of the rear surface of the box. That means, that the speed of the rotary arm is controlled so that the X-movement component completely or substantially compensates for the horizontal movement of the ejector by the movement of the XY linear drive in the X direction by the rotation of the rotary arm. The rotary arm thus remains substantially at rest in the X direction by the superposition of the horizontal movement of the ejector by the XY linear drive and the movement in the X direction as a result of the rotation relative to the rear surface of the carton, while the increasing rotation drives the rotary arm into the stack it is screwed in so that it there enlarges its extension in the Z-direction to a vertical position, in which the full-length rotary arm projects in the Z direction perpendicular to the XY plane into the stack. In this position, the box is already pushed out of the stack.

Subsequently, the rotation of the rotary arm is continued by controlling the drive until it again has an orientation in the horizontal direction, now opposite to the direction of travel of the XY linear drive and stopped the rotary arm by stopping the drive in this position.

The rotary arm is therefore controlled to be controlled by control of the drive by the controller so as to abut the central box of the rear surface of the selected box as the rotary arm advances past the selected box with its push end, and between the boxes above and below screwing the stack in, thereby pushing the selected box out of the space between the box above and below it. In this case, the rotary arm does not increase its expansion in the Z direction away from the end faces of the goods boxes at any time during its operation, ie the rotary arm only requires a space to receive it in the horizontal direction, ie with minimal expansion in the Z direction, in the housing.

This first form of continuation of the movement of the rotary arm, after a box is ejected and the pivot arm is perpendicular to the XY plane, is particularly suitable for sheds "in the middle" of the arrangement of adjacent shafts, i. for all goods shafts except the two lying on the outer lateral edges of the arrangement shafts. In this way, the rotary arm is ready in the direction of travel after an ejection operation and could perform a next breakout operation in the same horizontal linear direction of travel.

The second form of continuation of the movement of the rotary arm is particularly suitable for lying on the two outer edges of the arrangement of goods shafts outermost shafts. The pivot arm then rotates into one of these outermost shafts and pushes a selected box out of the stack, stopping its movement in the vertical position to the XY plane, and then reversing its rotational and linear motion so that it moves in a time-mirrored manner his starting position returns. This type of motion control is advantageous for the outermost goods shafts, since the ejector then does not have to pass this outermost goods shaft, which would make space in the housing in the horizontal direction beyond the outermost goods shaft addition needed. By the second form of movement continuation, the space in the housing can be minimized in the horizontal direction in the area of the outermost goods shafts.

In a preferred embodiment, it is provided that the control unit is adapted to carry out a blank in a goods well and there a virtual ejection operation with the rotary arm, there to rotate the direction of the rotary arm to the horizontal by 180 °. This step is referred to as a "virtual" eject operation because the pivot arm actually as in a normal ejection operation is moved, but in fact no ejection takes place, since the pivot arm moves at a point in a goods well, where no box is and where the rotating arm turns into void. Such a turn of the rotary arm may be desired if a certain orientation, eg in the direction of travel, to be effected.

In a preferred embodiment, the ejector is provided with rotation angle sensors which are configured to detect the rotational position of the rotary arm relative to the horizontal direction in a time-dependent manner and to forward the sensor signals to the control unit. Alternatively, when using a servomotor as the drive, information about the rotational position of the rotational range can also be derived therefrom. The detection of the instantaneous angle of rotation can be incorporated into the control of the rotation of the rotary arm by the drive, so that it is rotated as desired in a controlled manner that the horizontal linear movement of the rotary arm is partially or completely compensated by the rotation thereof.

The rotation angle sensors can be formed by a plurality of circularly distributed around the axis of rotation arranged Hall sensors in combination with a magnet, wherein Hall sensors and magnet are connected to the rotating arm or not rotating with this components of the ejector, so that the magnet at Rotation of the rotary arm along the circular distribution arrangement of the Hall sensors is moved relative thereto. This means that either the magnet with the rotary arm and the circular arrangement distributed around the axis of rotation of Hall sensors are firmly connected to a non-rotating components of the ejector, or conversely, the circularly distributed arrangement of the Hall sensors is connected to the rotary arm and with this rotates and the magnet firmly attached to a non-rotating component of the ejector is such that they rotate relative to each other upon rotation of the rotary arm.

Alternatively, the measurement of the angle of rotation can take place by means of an integrated Hall angle sensor which determines the orientation of a bar magnet or a diametrically magnetized ring or disc magnet mounted on the axis of rotation.

In a preferred embodiment, the rotary arm at the push end in plan view from the direction of the axis of rotation has a rounded profile which, upon rotation of the rotary arm, abuts against the rear surface of the box, so that the contact area with the rear surface remains in the central area of the box ,

• Fig. 1 eine schematische Übersicht über mehrere Komponenten eines Ausführungsbeispiels des Verkaufsautomaten zeigt,
• Fig. 2 eine vergrößerte Darstellung der Auswahleinheit des Verkaufsautomaten zeigt,
• Fig. 3 eine vergrößerte Ansicht der Verkaufseinheit des Verkaufsautomaten zeigt,
• Fig. 4 ein schematisches Blockschaltbild des Energieversorgungssystems des Verkaufsautomaten zeigt,
• Fig. 5 eine schematische Draufsicht auf die Stirnseite der Warenschächte mit XY-Linearantrieb zeigt,
• Fig. 6 eine perspektivische Detailansicht eines Bereichs zweier benachbarter Warenschächte zeigt,
• Fig. 7 a) bis j) eine Sequenz von Stellungen des Dreharms im Verlaufe einer Auswurfsoperation in Draufsicht aus Richtung der Drehachse (Y-Achse) zeigt, wobei zwischen aufeinanderfolgenden Darstellungen keine konstanten Zeitintervalle liegen, was sich darin zeigt, dass die gleichmäßige lineare horizontale Bewegung (von links nach rechts) des Auswerfers zu unterschiedlich großen Bewegungsschritten in horizontaler Richtung zwischen aufeinanderfolgenden Darstellungen führt, und
• Fig. 8 zeigt schematisch eine Draufsicht auf die XZ-Ebene, in der sich ein schematisch dargestellter Dreharm dreht.

The invention is explained below with reference to an exemplary embodiment in the drawings, in which:

• Fig. 1 shows a schematic overview of several components of an embodiment of the vending machine,
• Fig. 2 an enlarged view of the selection unit of the vending machine shows
• Fig. 3 shows an enlarged view of the sales unit of the vending machine,
• Fig. 4 shows a schematic block diagram of the power supply system of the vending machine,
• Fig. 5 shows a schematic plan view of the front side of the goods shafts with XY linear drive,
• Fig. 6 shows a perspective detail view of a region of two adjacent shafts,
• Fig. 7 a) to j) shows a sequence of positions of the rotary arm in the course of an ejection operation in plan view from the direction of the rotation axis (Y-axis), wherein between successive representations are no constant time intervals, which is shown in the fact that the uniform linear horizontal movement (from left to right) of Ejector leads to different sized movement steps in a horizontal direction between successive representations, and
• Fig. 8 schematically shows a plan view of the XZ plane in which rotates a schematically illustrated rotary arm.

Fig. 1 shows a schematic overview of various components of the vending machine. Below are a selection unit 10 (see also Fig. 2 ), which in this example shows a display with a list of the available varieties and the selection numbers assigned to them, which can then be entered for selection via the number keys or via touch-screen on the display by tapping. With 20, the payment unit is designated, which can be operated in a known manner with coins, banknotes, bank cards. This is also a card reading unit (eg for identity cards) for age verification. The payment unit is separately in again Fig. 3 shown.

A goods storage unit 30 is shown schematically with several adjacent goods shafts 36 ( Fig. 1 and 5 ). Before the end face of the storage unit 30, an XY linear drive 32 is arranged, which is shown schematically by two mutually perpendicular double arrows. On the XY linear actuator 32, a shown only schematically as a box ejector 34 is suspended and movable by the XY linear drive to any desired positions on the end face of the goods shafts. The ejector 34 can also be used with a camera (not shown), with which the image of the end faces of the boxes can be received in the goods shafts and transmitted to the control unit.

After switching on the vending machine or after filling with new product boxes, the XY linear drive is operated by the control unit (not shown) so that the ejector 34 mounted camera successively leaves the entire end face of the goods shafts and thereby receives the end faces of the goods boxes. Since there is a given range of goods with known graphic designs of the faces for each variety, image processing of each face can be assigned to the associated variety. Furthermore, by feedback of the XY linear drive 32 or by signals from position sensors in the control device, each commodity box can also be assigned an XY position, so that overall a sort-location allocation function can be determined and stored. If a customer has now selected and paid for a box of grade A, the control unit controls, using the sort-of-location assignment function, to a box of the sort A, eg to the second-top box in the goods box 36 on the left. Then, the control unit actuated the ejector, whereby the box A is pushed out of the stack in the Z-direction and ultimately falls into a goods issue tray. The XY linear drive 32 is connected to counter-pressure surfaces which are positioned on the opposite side of the stack of goods near the adjacent end faces of the underlying and underlying cartons so that they are not advanced when advancing the box A. When ejecting the second upper box A in the first stack of goods 36 left in Fig. 1 this means that, the ejector is driven in front of the second upper box A, on the opposite side of the stack in front of the topmost box X and the third uppermost box B counter-pressure elements are driven so that they can not move while advancing the box A. On the rear surface and / or the front surface of the stack in the goods shaft may additionally flexible bristles 39, as in Fig. 6 may be provided, which protrude partially over the end faces of the lying in the goods slot 36 boxes to prevent the cartons from slipping backwards and / or forwards.

After pressing the ejector, the ejected box falls into an output tray.

According to the present invention, the ejector has a rotary arm or rotary tappet 50 rotatable about the vertical axis (Y-axis) which is driven for rotation by a drive such as a servomotor. In this case, the rotary arm 50 can in a first variant of a parallel to the horizontal direction (X-axis) rotated by 180 ° in a direction opposite to the horizontal direction of travel of the ejector aligned position. This process is performed "while driving by", ie while the ejector passes horizontally past the selected carton. The process is schematically in plan view from the direction of the axis of rotation in FIGS. 7 a) to j) shown. It should be noted that between successive positions in FIGS. 7a ) to j) is not a constant time interval, which is shown by the fact that the X position of the ejector 34 (from left to right in the figure) due to the indicated by arrows linear movement of the XY linear drive in the horizontal direction, the simplest Case is a movement with constant speed, from position to position in FIGS. 7 a) to j) does not change in even steps. Instead, for the sake of simplicity, approximately constant angular steps in the total rotation by 180 ° were shown. That this leads from representation to representation to different resulting step sizes of the linear horizontal movement shows even that the angular frequency of the rotation over the rotation is not constant, but at the beginning is high and then until the rotation by 90 ° in Fig. 7f ) decreases and then increases again to 180 °. This is because, according to the present invention, the rotation of the rotary arm is controlled so that by the superimposition of the linear horizontal movement with the horizontal movement caused by the rotation of the rotary arm about the Y-axis, these two horizontal movements become one another are opposite and equal to or equal to a predetermined threshold, so that the thrust end applied to the box performs no or only a movement below a threshold in the horizontal direction relative to the end face of the box. As a result, the push end remains in abutment with a central area of the box during the sliding operation. The mechanisms and principles of the necessary control or regulation of the speed of the drive for rotation will be discussed below.

During the process of the ejector 34 to the selected box, the rotary arm 50 is held in rest parallel to the horizontal direction and in the direction of travel. When the shear end 52 of the rotary arm 50 remote from its axis of rotation has reached a position opposite a central region of the rear surface of the selected boxes ( Fig. 7 a) ), the XY linear actuator is operated in a horizontal direction only and at the same time the drive is started to rotate the rotary arm 50 at a time-controlled speed so that the push end 52 comes into abutment in the central area of the selected box (FIG. Fig. 7b) ). Thereafter, the drive for rotation of the rotary knob 50 is controlled in a time-dependent manner further operated so that the superposition of the horizontal movement due to the rotation of the rotary space 50 about the Y-axis with the linear horizontal movement of the ejector by the XY linear drive causes the Schubende 52 of the Rotary arm 50 in the horizontal direction relative to the advancing box completely rests or its movement in the X direction below a predetermined threshold, so that it remains in contact with a central region of the rear surface of the box. This is in the FIGS. 7 c) to e) can be seen in which the rotary arm advances the box in the Z direction by continued rotation, whereby the said regulation of the speed of rotation causes the contact points of the end 52 of the rotary arm always remains in the central region of the Entfläche the advanced box. This compensation of the horizontal movements is reflected in the FIGS. 7a) to e) in that the thrust end 52 remains in a vertical line in the superimposed representations, ie, does not execute a horizontal movement.

In Fig. 7 e) is the rotary arm 52 in the Z direction and has reached its maximum extent in this direction. The length of the rotary arm 50 must be determined so that through the box to the in Fig. 7 e) shown position this can fall out of the stack. This is certainly the case when the length of the rotary arm 50 is about equal to or slightly larger than the length of the box in the Z direction, so that it is pushed out of the stack completely. However, there are also embodiments in which each carton is located in the goods well in a separate shelf, ie below each carton is a thin bottom connected to the manhole sidewalls. In such embodiments, advancing the carton by less than its Z-direction length may be sufficient to drop it out of the goods well.

The falling out of the box is in FIGS. 7 e) and f) indicated that the box in the in FIGS. 7e ) and f) begins to fall out of the trade, which is indicated by the dashed line in the box Fig. 7 f) is indicated.

After exceeding the 90 ° position of the rotary arm, the rotation is continued in a symmetrical manner about the 90 ° position until the rotary arm has reached a horizontal position opposite to the linear direction of travel of the ejector 34, in which the drive is then stopped ( Fig. 7 j) ).

Thus, the ejection operation performed by the ejector "in passing" by rotation of the rotary arm 15 in the above-described manner is completed, and the ejector 34 can be further horizontally moved by the XY linear actuator in the same direction until it is beyond the lateral one Edge of the last goods shaft lying waiting position has reached where the control unit can park the ejector until the next Aswurfoperation. Since this then has to be moved in the opposite horizontal direction of travel in the next ejection operation, the rotary arm 50 is then already correct to carry out another ejection operation by a rotation through 180 ° with opposite direction of rotation.

In the second variant of the motion control of the rotary arm after reaching the vertical to the XY plane position of the rotary arm this is stopped in the vertical position by stopping the drive and the XY linear drive and then the drive with reverse rotation and the XY linear drive in opposite horizontal Operated direction, so that the rotary arm returns by a temporally reversed superposition of rotary and horizontal linear movement in its initial position. In Fig. 7 this means that the rotary arm first the motion sequence of Fig. 7 a) to e) then in the position of Fig. 7 e) stops and the rotational movement and horizontal linear movement in the reverse direction to the starting position Fig. 7a ).

In the following, in order to illustrate the rotation made by the rotary arm when the box is ejected, an illustrative representation of the geometrical relationships during rotation is given, on which a control algorithm for controlling the rotational movement by the time-dependent speed drive can be based. Here, by way of example, the first variant of the motion control of the rotation of the rotary arm is considered, in which the rotary arm is rotated by 180 °. In Fig. 8 is greatly simplified and schematically the rotary arm 50 reproduced by an originating from the origin of the XZ coordinate system distance with the length 1. The rotary arm 50, when rotated from the horizontal direction in the X direction, makes a 180 degree rotation to an end position which is directed opposite. The case of the end point of the route 1 in the rotation in Fig. 8 traversed trajectory is in Fig. 8 indicated by the semicircle shown.

In the in Fig. 8 reproduced snapshot at time t, the rotary arm against the horizontal X-direction has already rotated away by an angle φ (t) from the X-axis. It is first assumed here that the illustrated XZ coordinate system rests upon rotation of the rotary arm (ie, apart from a linear horizontal movement of the rotary arm).

At time t, the rotary arm takes an angle φ (t) to the X-axis and has a projection or extension in the X-axis direction of x (t) as in FIG Fig. 8 indicated. This projection or expansion x (t) is related to the rotation angle φ (t) in the following way: $$x\left(t\right)=l\cdot \cos \phi \left(t\right)$$

Let's look at the speed with which the X-dimension of the projection of the rotary arm changes, or in other words, what is the speed at which the end point of the projection of the rotated rotating arm is traveling along the X-axis. This speed is given by the time derivative x (t) as follows: $$\frac{\mathit{dx}\left(t\right)}{\mathit{dt}}=-l\cdot \sin \phi \left(t\right)\cdot \frac{\mathit{d\phi }\left(t\right)}{\mathit{dt}}$$

so dass bei Überlagerung der beiden Geschwindigkeiten die Geschwindigkeit des Schubendes des Dreharms im idealisierten Fall in X-Richtung 0 beträgt. Das Auflösen dieser Beziehung ergibt $$\frac{\mathit{d\phi }\left(t\right)}{\mathit{dt}}=\frac{v_x}{l}\cdot \frac{l}{\sin \phi \left(t\right)}=\omega \left(t\right)$$

ω(t) ist die die zeitabhängige Kreisfrequenz der Drehung, die durch den Antrieb (Motor) bewirkt werden muss. Es ist hier zu beachten, dass diese Betrachtung der mathematischen Zusammenhänge eher zur Veranschaulichung dienen soll. Die zuletzt angegebene Beziehung kann nicht vom Drehwinkel 0° aus und bis zum Drehwinkel 180° hin verwendet werden, da der Ausdruck an diesen Stellen nicht definiert ist. Das spielt in der Praxis aber keine Rolle, da der Dreharm zunächst um einen gewissen Winkel gedreht werden muss, bis er überhaupt in Anlage an die Endfläche kommt und erst dann die Regelung der X-Position des Schubgeländes an der Endfläche praktisch relevant ist. In der Praxis könnte der in der Steuereinheit implementierte Steueralgorithmus mit einer Drehung mit vorgegebener Geschwindigkeit mit einer vorgegebenen Kreisfrequenz ω_start beginnen und dann nach Erreichen eines vorgegebenen kleinen Anfangswinkels ϕ(t) mit der oben angegebenen Beziehung die Kreisfrequenz der Drehung in Abhängigkeit von ϕ(t) anpassen. Jedenfalls kann man der oben angegebenen Beziehung für die Kreisfrequenz entnehmen, dass der Dreharm zunächst bei kleinen Winkeln mit einer sehr hohen Kreisfrequenz schnell gedreht werden muss. Je weiter der Dreharm sich dann der 90° Stellung nähert, desto weiter kam die Kreisfrequenz gemäß der oben angegebenen Beziehung absinken. Auf dem Weg von 90° bis 180° kann die Kreisfrequenz dann umgekehrt, in symmetrischer Weise wieder ansteigen.It should now be included in the movement of the ejector by the XY linear drive in the horizontal X direction, which is assumed here by way of example, that this horizontal movement of the ejector by the XY linear drive at a constant speed v _x in the X direction. In performing the rotation of the rotary arm for ejection, the speed of rotation of the rotary arm is to cause movement in the X direction, which is opposite to the movement of the ejector in the X direction at the speed v _x through the XY linear drive and ideally fully compensates for it , For this purpose, the above-mentioned speed in the X direction is set equal to -v _x by the rotation $$-l\cdot \mathrm{sin\phi }\left(t\right)\cdot \frac{\mathit{d\phi }\left(t\right)}{\mathit{dt}}=-v_x=\mathit{const}$$

so that the superposition of the two speeds, the speed of the shear end of the rotary arm in the idealized case in the X direction is zero. The dissolution of this relationship yields $$\frac{\mathit{d\phi }\left(t\right)}{\mathit{dt}}=\frac{v_x}{l}\cdot \frac{l}{\sin \phi \left(t\right)}=\omega \left(t\right)$$

ω (t) is the time-dependent angular frequency of the rotation that must be effected by the drive (motor). It should be noted here that this consideration of mathematical relationships should serve as an illustration. The last specified Relationship can not be used from the angle of rotation 0 ° and up to the angle of rotation 180 ° because the term is not defined at these points. However, this does not matter in practice, since the rotary arm must first be rotated by a certain angle until it ever comes into contact with the end face and only then is the regulation of the X position of the pushing area at the end face practically relevant. In practice, the control algorithm implemented in the control unit could start with a predetermined speed rotation at a given angular frequency ω _start and then, after reaching a predetermined small initial angle φ (t) with the relationship given above, the angular rate of rotation as a function of φ (t ) to adjust. In any case, it can be seen from the above-mentioned relationship for the angular frequency that the rotary arm must first be rotated quickly at small angles with a very high angular frequency. The farther the pivot arm approaches the 90 ° position, the farther the angular frequency has dropped in accordance with the above relationship. On the way from 90 ° to 180 °, the angular frequency can then reverse, in a symmetrical way increase again.

This relationship is also reflected in FIGS. 7 a) to e) contrary. After the first angle step Fig. 7b) causes the constant linear movement in the horizontal direction of the ejector 34 only a relatively small displacement in the X direction (to the left). The steps in the X direction, however, become larger and larger with each angle step, the farther the pivot arm 50 of the rotated position by 90 ° Fig. 7 e) ie, speed of rotation (angular frequency) decreases relative to the constant horizontal linear motion from 7 a) to e).

In practice, however, the control algorithms may also operate based on other computational steps than the above relationship between rotational angle φ (t) and angular frequency ω (t) of the motor drive. So can also a rotary motion Thus, when superimposing the linear movement of the ejector in the X direction v _x with the movement in the X direction caused by the rotation of the rotary arm, the X coordinate of the shear end of the rotary arm is effected as a function of time during the ejection remains constant during advancement of the box or remains in a predetermined restricted area, so that the push end substantially at the center of the rear surface of the box attaching this can advance.

The control or regulating algorithms can also carry out extrapolations for the X-position from rotational angles at successive times φ (t ₁ ) and φ (t ₂ ) and adjust the angular frequency ω (t) such that the X-position does not or not changed over a given threshold. The latter would more closely correspond to a regulation which keeps the thrust end of the rotary arm at a constant X value.

In Fig. 4 schematically an embodiment of a power supply system for the vending machine is shown. The system has three accumulators, which are connected in such a way that neither deep discharges nor overloads can occur. Regardless of the voltage conditions of the accumulators, the output voltage is kept at exactly 12 volts by a DC-DC converter (DC-DC converter) 49. This ensures a smooth operation of the electrical units of the vending machine.

In the simplest case, the system can be operated with only one accumulator, which supplies the entire system with electrical energy when required.

When operating with two accumulators 46 and 47, the system can be controlled by the control unit such that the accumulator With the higher capacity, the entire system is supplied with electrical energy when required. The electrical energy from the solar cell arrays 42 is used to charge the weaker battery.

When operating with accumulator 46 or 47 and accumulator 48 as backup, accumulator 46 or 47 supplies the entire system when requested. If the accumulator 46 or 47 is empty, the entire system is supplied by accumulator 48 (backup) on request. The electrical energy from the solar cell arrays is used to recharge accumulator 46 or 47, wherein the accumulator 48 used as backup is preferably supplied with electrical energy to ensure its state of charge.

When operating with three accumulators, the accumulators 46 and 47 supply the entire system in parallel on demand. If the accumulators are empty, the entire system is supplied on demand via accumulator 48 (backup). The electrical energy from the solar cell arrays is used to recharge the accumulators 46 and 47, with the backup accumulator 48 preferably being supplied with electrical energy to ensure its state of charge.

To recharge the accumulators via the solar cell arrays 42, DC-DC converters are additionally switched on when the voltage from the solar cell arrays is not above the level of the battery charging voltage. In addition, batteries can also be used for recharging.

Claims (8)

Vending machine comprising a housing, a plurality of goods shafts (36) arranged side by side in a horizontal direction (X-direction) for receiving stacks of commodity boxes oriented in the vertical direction (Y-direction), a selection unit (10) for entering a selection of goods, a A payment unit (20), a control unit, arranged to respond to the payment unit feedback that a sufficient amount has been paid for the goods selection, to a selected box (34) suspended from an XY linear drive (32) and operate the ejector to advance the selected box perpendicular to the XY plane and push it out of the stack so that it passes under the goods shafts in an output tray, characterized in that the ejector (34) extends about a vertical axis of rotation rotatable rotary arm (50) and this drive at a controllable speed for rotation drive a ufweist and that the control unit is set up to
during the process of the ejector by the XY linear drive to the selected box with the drive stopped to keep the rotary arm (50) in a direction of rest horizontally oriented rest position,
when the pivot end (52) of the pivot arm remote from its axis of rotation has reached a position opposite a central area of the rear surface of the selected box, operating the XY linear drive (32) exclusively in the horizontal direction and simultaneously starting the drive to rotate the pivot arm (32); 50) with time-dependent control Rotate speed by superimposing the horizontal linear movement and the rotational movement of the rotary arm, the thrust end (52) rests in the X direction or its movement in the X direction below a predetermined threshold and the thrust end remains in contact with the central region of the rear surface while the box is thereby pushed forward by the rotation of the rotary arm (50) to a position perpendicular to the XY plane and out of the stack. Vending machine according to claim 1, characterized in that the control unit is adapted to continue during and after passing the position perpendicular to the XY plane by the rotary arm (50) whose rotation by the drive continuously and to continue the horizontal movement by the XY linear drive continuously , Wherein, the rotary arm is rotated with time-dependent controlled speed, that by resting the horizontal linear movement and the rotational movement of the rotary arm, the thrust end rests in the X direction or its movement in the X direction is below a predetermined threshold, until the rotary arm is a horizontal aligned rest position opposite to the direction of travel of the XY linear drive has reached in the horizontal direction and to stop the drive in this position. Vending machine according to claim 1, characterized in that the control unit is adapted to stop when and reaching the position perpendicular to the XY plane by the rotary arm (50) whose rotation by the drive and to stop the horizontal movement through the XY linear drive and thereafter to cause a horizontal movement of the rotary arm through the XY linear drive in the opposite direction and by the drive rotation in the opposite direction of rotation at such a controlled speed to cause the thrust end (52) to rest in the X direction by overlaying the horizontal linear movement and the rotary motion of the rotary arm, or to move in the X direction below a predetermined threshold until the pivot arm (50) has a horizontally aligned rest position opposite to the direction of travel of the XY linear drive has reached in horizontal direction and stop the drive in this position. Vending machine according to one of the preceding claims, characterized in that the control unit is adapted to perform a blank in a goods well and there a virtual ejection operation with the rotary arm to rotate there the direction of the rotary arm (50) to the horizontal by 180 °. Vending machine according to one of the preceding claims, characterized in that the ejector (34) is provided with rotation angle sensors which are adapted to detect the rotational position of the rotary arm (50) relative to the horizontal direction time-dependent and forward the sensor signals to the control unit. Vending machine according to claim 5, characterized in that the rotation angle sensors have a plurality of circularly distributed around the axis of rotation arranged Hall sensors and a magnet, wherein the Hall sensors and the magnet so with the rotary arm (50) and remaining parts of the ejector, the participate in the rotation of the rotary arm, are connected, that the magnet is moved upon rotation of the rotary arm relative to the Hall sensors along the circularly distributed arrangement of the Hall sensors. Vending machine according to one of claims 1 to 4, characterized in that the ejector with an integrated Hall angle sensor is provided, which determines the orientation of a mounted on the axis of rotation bar magnet or a diametrically magnetized ring or disc magnet. Vending machine according to one of the preceding claims, characterized in that the rotary arm (50) at the push end (52) in plan view from the direction of the axis of rotation has a rounded profile on which the fitting rear surface of the box during rotation of the rotary arm during advancement of the box unrolls to the ejection.

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