WO2020015588A1 - Distributeur automatique et procédé de commande de distribution de marchandises associé - Google Patents

Distributeur automatique et procédé de commande de distribution de marchandises associé Download PDF

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Publication number
WO2020015588A1
WO2020015588A1 PCT/CN2019/095829 CN2019095829W WO2020015588A1 WO 2020015588 A1 WO2020015588 A1 WO 2020015588A1 CN 2019095829 W CN2019095829 W CN 2019095829W WO 2020015588 A1 WO2020015588 A1 WO 2020015588A1
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WIPO (PCT)
Prior art keywords
speed
cargo
target
target cargo
lane
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Application number
PCT/CN2019/095829
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English (en)
Chinese (zh)
Inventor
周冲
丛强滋
王春涛
姜天信
Original Assignee
山东新北洋信息技术股份有限公司
威海新北洋数码科技有限公司
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Application filed by 山东新北洋信息技术股份有限公司, 威海新北洋数码科技有限公司 filed Critical 山东新北洋信息技术股份有限公司
Publication of WO2020015588A1 publication Critical patent/WO2020015588A1/fr

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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16—Delivery means
    • G07F11/163—Delivery means characterised by blocking access to the output bins

Definitions

  • the present application relates to the technical field of vending, for example, to a vending machine and a method for controlling delivery of its cargo lane.
  • a vending machine is a commercial automation device used to sell goods automatically. Vending machines are widely used because they are not limited by time and place, can save manpower, and facilitate transactions.
  • the related art discloses a vending machine including a cabinet and a shelf, a hopper, and a controller provided inside the cabinet, wherein a surface of the cabinet is provided with a pick-up port, and the shelf includes a plurality of Cargo lanes for cargo.
  • the bucket is located between the shelf and the pick-up port, and is set to deliver goods between the rack and the pick-up port.
  • Each lane includes a cargo transport mechanism.
  • the controller After receiving the goods purchase instruction entered by the user, The controller first determines the goods that the user wants to buy and the target goods lane that contains the goods, then controls the bucket to move to the position of the target goods lane, and controls the cargo transport mechanism of the target goods lane to set the user to buy the goods at the set speed.
  • the goods are sent to the hopper, and finally the hopper is controlled to move to the pickup port so that the user can remove the cargo from the pickup port.
  • the related technology vending machines are prone to abnormal shipments such as crushing, dumping, deviating from the cargo lane, or multiple shipments during the process of conveying goods from the cargo lane to the hopper, which brings economic losses to the merchants and affects the vending machines. Customer experience.
  • the present application provides a method for controlling the goods lane shipment of a vending machine, so as to solve the problem that abnormal shipments are prone to occur when the goods in the vending machine of the related technology are sent from the goods lane to the hopper.
  • the application also provides a vending machine.
  • An embodiment of the present application provides a cargo lane shipping control method for a vending machine, which is applied to a vending machine.
  • the vending machine includes a plurality of cargo lanes, and each cargo lane is configured to accommodate goods, and each cargo lane is provided with goods.
  • Conveying mechanism, the goods conveying mechanism is set to send the goods in the goods lane from the goods lane, and the goods lane shipment control method includes:
  • the target goods are sent out from the target lane according to the determined shipping speed.
  • An automatic vending machine provided in the embodiment of the present application includes a control device and a plurality of cargo lanes.
  • Each cargo lane is configured to accommodate goods, and each cargo lane is provided with a cargo transport mechanism and a cargo transport mechanism electrically connected to the control device.
  • the control device is configured to determine the target cargo to be sold and the target cargo lane containing the target cargo according to the inputted purchase order, determine the shipping speed of the target cargo lane according to the target cargo, and send the target cargo from the target cargo lane according to the determined shipping speed .
  • FIG. 1 is a schematic diagram of an external structure of a vending machine according to an embodiment
  • FIG. 2 is a schematic diagram of an internal structure of a vending machine according to an embodiment
  • FIG. 3 is a block diagram of a vending machine according to an embodiment
  • FIG. 4 is a schematic diagram of a partial structure of a vending machine according to an embodiment
  • FIG. 5 is a flowchart of a method for controlling a cargo lane shipment of a vending machine according to an embodiment
  • FIG. 6 is a schematic flowchart of determining a shipping speed of a target cargo lane according to a target cargo according to an embodiment.
  • Icon 010-Vending machine; 100-cabinet; 101-cabinet; 102-cabinet; 103-cargo opening; 200-storage device; 210-cargo lane; 211-cargo transport mechanism; 211a-push plate; 211b-motor; 300-delivery device; 310-bucket; 320-bucket drive mechanism; 321-horizontal drive mechanism; 322-vertical drive mechanism; 400-storage device; 500-control device.
  • the cargo transport mechanism in the target cargo lane sends the goods out of the target cargo lane to achieve the target cargo lane shipment. Due to the different characteristics of fragility, weight, height and thickness of different goods, the relevant When the technical vending machine is shipped, the more fragile goods are prone to being crushed, the smaller weight goods are prone to deviate from the goods lane, and the higher height goods are prone to fall and deviate from the goods lane. The problem is that the small thickness of the goods is prone to the problem of multiple shipments. Therefore, the vending machine provided in the related technology is prone to the problem of abnormal shipments. The following technical solutions are proposed in this application to solve this problem.
  • FIG. 1 is a schematic diagram of an external structure of a vending machine provided by an embodiment
  • FIG. 2 is a schematic diagram of an internal structure of a vending machine provided by an embodiment
  • FIG. 3 is a schematic diagram of a vending machine provided by an embodiment A composition block diagram, and the vending machine 010 in the embodiment of the present application will be described with reference to FIGS. 1 to 3.
  • the vending machine 010 includes a cabinet 100, a storage device 200, a delivery device 300, a storage device 400, and a control device 500.
  • the cabinet 100 includes a cabinet body 101 and a cabinet door 102.
  • the cabinet body 101 is movably connected to the cabinet door 102.
  • the cabinet body 101 includes an opening (not shown in the figure).
  • the cabinet door 102 may be opposite to the cabinet body 101. The opening moves to open or close the cabinet 101.
  • the door 102 is provided with a pick-up port 103, and the pick-up port 103 is provided for a user to take out goods.
  • the storage device 200 is configured to accommodate goods for sale. As shown in FIG. 2, the storage device 200 is disposed inside the cabinet 101, and the storage device 200 is spaced apart from the cabinet door 102.
  • the storage device 200 includes a plurality of cargo lanes 210, and each of the plurality of cargo lanes 210 is configured to receive goods.
  • a plurality of cargo lanes 210 are arranged in M layers along the up and down direction (that is, the direction shown by the arrow cd), and are arranged in N rows along the left and right directions (that is, the direction shown by the arrow ab). That is, the direction indicated by the arrow ef) extends.
  • An exit is provided at one end of the cargo path 210 near the cabinet door 102, and the exit of the cargo channel 210 faces the cabinet door 102.
  • FIG. 4 is a partial structural schematic diagram of a vending machine according to an embodiment.
  • the cargo lane 210 includes a cargo transport mechanism 211, and the cargo transport mechanism 211 is configured to transport the cargo in the cargo lane 210 from the cargo lane.
  • the exit of 210 is output to the outside of the cargo path 210.
  • the cargo conveyance mechanism 211 includes a push plate 211a and a motor 211b.
  • the motor 211b is electrically connected to the control device 500, and the motor 211b is drivingly connected to the push plate 211a.
  • 211b can drive the push plate 211a to move in the cargo lane 210, thereby driving the goods in the cargo lane 210 to move toward the exit of the cargo lane 210.
  • the cargo transport mechanism 211 may also be in other forms.
  • the cargo transport mechanism 211 includes a conveyor belt and a motor.
  • the conveyor belt is disposed in the cargo lane 210.
  • the goods are placed on the conveyor belt, and the motor drives the conveyor belt to move so Move the conveyor belt to move the goods.
  • the delivery device 300 is configured to carry goods between the storage device 200 and the pickup port 103.
  • the delivery device 300 is located between the cabinet door 102 and the storage device 200.
  • the delivery device 300 includes a bucket 310 and a bucket driving mechanism 320.
  • An inlet is provided at a first end of the bucket 310 near the cargo path 210, and an outlet is provided at a second end of the bucket 310 near the cabinet door 102.
  • the bucket driving mechanism 320 includes a horizontal driving mechanism 321 and a vertical driving mechanism 322.
  • the horizontal driving mechanism 321 and the vertical driving mechanism 322 are electrically connected to the control device 500, respectively.
  • the horizontal driving mechanism 321 drives the bucket 310 under the control of the control device 500.
  • the vertical driving mechanism 322 drives the bucket 310 to move in the up-down direction, so that the bucket 310 can move in the horizontal direction, or move in the vertical direction, or move in both the horizontal and vertical directions at the same time, so that The entrance of the bucket 310 is opposite to the exit of any one of the cargo lanes 210, or the exit of the bucket 310 is opposite to the pickup port 103.
  • the goods in the cargo lane 210 can be sent to the hopper 310 after being output from the exit of the cargo lane 210; when the exit of the hopper 310 and the pickup port When 103 is opposite, the user can remove the goods in the bucket 310 through the picking port 103.
  • the storage device 400 is configured to store a program of the vending machine 010 and data and variables required during the program running process.
  • the storage device 400 is configured to store a correspondence between each type of goods and a cargo lane in which the goods are stored.
  • the storage device 400 is further configured to store the correspondence between each type of goods and the shipping speed of the cargo lane, or to set the reference characteristic value and the threshold value corresponding to the reference characteristic of each type of goods, where the The characteristics include the fragility, weight, height, and thickness of the cargo.
  • the reference characteristic of the cargo is one of a number of characteristics of the cargo, which is used to determine the shipping speed when the cargo is transported by the cargo lane.
  • the control device 500 is electrically connected to the cargo transport mechanism 211, the bucket driving mechanism 320, and the storage device 400, and is configured to control the multiple modules to perform work and perform data calculation and processing.
  • the control device 500 is configured to be based on a user's purchase instruction Determine the target cargo to be sold and the target cargo lane to accommodate the target cargo, determine the shipping speed of the target cargo lane according to the target cargo, and control the cargo transport mechanism 211 to transfer the target cargo from the target cargo according to the determined shipping speed of the target cargo lane. It is sent out by the road so that the target cargo arrives in the hopper 310 and so on.
  • the control device 500 may determine the shipping speed of the target cargo lane according to the pre-stored moving speed corresponding to each type of goods.
  • the corresponding moving speed of each kind of goods should be a reasonable moving speed of the kind of goods when being sent out by the cargo lane 210.
  • the goods are not easy to deviate from the cargo lane, are not easily broken, are not easy to fall, or are not easy to ship more.
  • the correspondence relationship between each kind of goods in the vending machine 010 and the moving speed can be pre-stored in the storage device 400. After the control device 500 determines the target goods and the target goods lane, the retrieval of the corresponding relationship between each kind of goods and the movement speed determines the destination goods lane Cargo speed.
  • control device 500 may also be configured to determine the reference characteristic value of the target cargo and a threshold value corresponding to the reference characteristic according to the reference characteristic of the target cargo, and determine the reference characteristic value and the threshold value corresponding to the reference characteristic of the target cargo.
  • the storage device 400 may store the reference characteristic value of the cargo and a threshold value corresponding to the reference characteristic in advance for the control device 500 to call after determining the reference characteristic of the target cargo.
  • control device 500 is configured to select a feature from a plurality of features of the target cargo as a reference feature of the target cargo, and obtain a reference feature value and a threshold value corresponding to the reference feature according to the reference feature.
  • the reference characteristic of the target cargo includes one of fragility, weight, height, or thickness
  • the control device 500 is configured to determine when the fragility value of the target cargo is higher than the first threshold.
  • the shipping speed of the target lane is the first speed, and when the fragility value is not higher than the first threshold, determining that the shipping speed of the target lane is the second speed, where the first speed is less than the second speed; Or, when the weight value of the target cargo is lower than the second threshold value, determine that the shipping speed of the target cargo lane is the third speed, and when the weight value is not lower than the second threshold value, determine the shipment of the target cargo lane.
  • the speed is the fourth speed, wherein the third speed is less than the fourth speed; or, when the height value of the target cargo is higher than the third threshold value, it is determined that the delivery speed of the target cargo lane is the fifth speed, When the value is higher than the third threshold, determine that the shipping speed of the target cargo lane is the sixth speed, where the fifth speed is less than the sixth speed; or, when the thickness of the target cargo is less than the fourth threshold, determine the target Cargo lane Delivery speed of the seventh speed, in a case where the thickness is not less than the fourth threshold, determining a target speed of the ship is a cargo track of the eighth speed, wherein the speed is less than an eighth seventh speed.
  • the vending machine 010 may further include a detection device (not shown in the figure) provided in the cabinet 101, and the detection device is configured to detect the characteristic value of the goods in the cargo lane 210, and the detection device and the control device 500 is electrically connected.
  • the control device 500 obtains the reference characteristic value of the target cargo in the target cargo lane through the detection device.
  • the detection device includes an image sensor, and the image sensor can measure the height and thickness of the target cargo.
  • the detection device includes a weight sensor. The weight sensor can measure the weight of the target cargo.
  • the vending machine 010 further includes a human-machine interaction device (not shown) communicatively connected with the control device 500.
  • the human-machine interaction device is configured to receive a purchase instruction input by the user and transmit the purchase instruction to the control device 500.
  • the human-computer interaction device may include input / output devices such as a display, a touch screen, a keyboard, and a mouse.
  • the vending machine provided in this embodiment can automatically adjust the delivery speed of the target cargo lane according to the target cargo, so that goods with fragile, light, thin, and high characteristics are sent to the cargo lane at a lower speed, which eases the cargo being caught.
  • Abnormal shipments such as fragmentation, dumping, deviation from the cargo lane, or multiple shipments are prone to occur when sending out of the aisle. This solves the problem that abnormal vending machines in related technologies are prone to abnormal shipments when sending goods from the aisle to the hopper. problem.
  • FIG. 5 is a schematic flow chart of a method for controlling a cargo lane shipment of a vending machine according to an embodiment. As shown in FIG. 5, a method for controlling a cargo lane shipment of a vending machine provided in this embodiment includes:
  • step S100 the target goods to be sold and the target goods lanes containing the target goods are determined according to the inputted purchase order.
  • the control device 500 receives a purchase order input by a user, and determines a target cargo to be sold and a target cargo lane accommodating the target cargo according to the purchase command input by the user.
  • the purchase input by the user The command includes the goods to be purchased by the user or the target cargo lane containing the goods to be purchased by the user.
  • the control device 500 determines the goods to be purchased by the user as the target goods to be sold,
  • the target cargo lane containing the target cargo is determined by searching the correspondence between the cargo and the cargo lane stored in the storage device 400.
  • the control device 500 acquires the target cargo.
  • the target cargo is determined by searching the correspondence relationship between the cargo stored in the storage device 400 and the cargo lane.
  • step S200 the shipping speed of the target cargo lane is determined according to the target cargo.
  • the shipping speed of the target cargo lane may be determined according to the pre-stored moving speed corresponding to each type of goods.
  • the correspondence relationship between each kind of goods and the moving speed in the vending machine 010 is pre-stored in the storage device 400. After the control device 500 determines the target goods and the target goods lane, it is determined by retrieving the correspondence relationship between each kind of goods and the moving speed.
  • the shipping speed of the target lane Table 1 shows the correspondence between the goods and the moving speed of a vending machine provided in the embodiments of the present application. As shown in Table 1, the vending machine 010 includes four kinds of goods for sale, among which goods 1, goods The moving speed corresponding to 2 and cargo 3 is V1, and the corresponding moving speed of cargo 4 is V2.
  • the shipping speed of the target cargo lane is determined by searching the correspondence table between the cargo and the moving speed. For example, when the control device 500 determines that the target cargo is the cargo 1 according to the purchase order input by the user, The correspondence relationship table of the goods and the moving speed of the vending machine 010 is searched to determine that the delivery speed of the target goods lane containing the goods 1 is V1.
  • FIG. 6 is a schematic flowchart of determining a shipping speed of a target cargo lane according to a target cargo according to an embodiment.
  • determining the delivery speed of the target cargo lane according to the target cargo may include:
  • Step S210 Determine a reference characteristic value of the target cargo and a threshold value corresponding to the reference characteristic according to the reference characteristic of the target cargo.
  • the control device 500 may be set to determine a reference characteristic value of the target cargo and a threshold value corresponding to the reference characteristic according to the reference characteristic of the target cargo. Determining the reference characteristic value of the target cargo and the threshold value corresponding to the reference characteristic may include: first determining the reference characteristic of the target cargo, and then obtaining the reference characteristic value and the threshold value corresponding to the reference characteristic according to the reference characteristic.
  • the vending machine 010 is only used for selling beverages. Since the weight of the beverage is a key factor affecting the breakage of the beverage, the weight is the reference characteristic of the target cargo.
  • the storage device 400 may store the reference characteristic value of the cargo and a threshold corresponding to the reference characteristic in advance.
  • the control device 500 determines the reference characteristic of the target cargo and obtains the reference characteristic value of the target cargo according to the reference characteristic of the target cargo. And the threshold corresponding to the reference feature.
  • Step S220 Determine the shipping speed of the target cargo lane according to the reference characteristic value of the target cargo and a threshold corresponding to the reference characteristic.
  • the control device 500 may compare the determined reference characteristic value with a threshold value corresponding to the reference characteristic, and determine the shipping speed of the target cargo lane according to the comparison result.
  • determining the shipping speed of the target cargo lane according to a comparison result between the reference characteristic value of the target cargo and a threshold corresponding to the reference characteristic includes any one of the following: In the case, it is determined that the delivery speed of the target lane is the first speed, and when the fragility value is not higher than the first threshold, the delivery speed of the target lane is determined to be the second speed, where the first speed is less than The second speed, that is, the shipping speed of the target lane corresponding to the highly fragile goods is lower than the shipping speed of the target lane corresponding to the low fragile goods, so that it is not easy to pass due to the speed when transporting fragile goods.
  • the delivery speed of the target cargo lane is the third speed.
  • the weight of the target cargo is not lower than the second threshold.
  • the delivery speed of the standard cargo lane so that it is not easy to cause the target cargo to deviate from the cargo lane due to excessive speed when conveying lighter cargo; when the height value of the target cargo is higher than the third threshold, the delivery speed of the target cargo lane is determined It is the fifth speed, and when the height value is not higher than the third threshold, it is determined that the delivery speed of the target cargo lane is the sixth speed, where the fifth speed is less than the sixth speed, that is, the corresponding height of the cargo.
  • the delivery speed of the target cargo lane is less than the delivery speed of the target cargo lane corresponding to the low-height cargo, so that it is not easy to cause the target cargo to overturn and deviate from the cargo lane when the high-speed cargo is transported;
  • the shipment speed of the target lane is determined to be the seventh speed
  • the thickness value is not less than the fourth threshold
  • the shipment speed of the target lane is determined to be the eighth speed.
  • the seventh speed is less than the eighth speed, that is, the shipping speed of the target cargo lane corresponding to the thin cargo is smaller than the shipping speed of the target cargo lane corresponding to the thick cargo.
  • each kind of goods in the vending machine 010 includes a plurality of features, each feature corresponds to a feature value and a threshold value.
  • the control device 500 determines the target goods, it selects a variety of goods from the goods according to the type of the goods. Select a feature as the reference feature, and obtain the reference feature value and the threshold corresponding to the reference feature of the target cargo according to the reference feature.
  • the type of goods can be divided according to the most interesting features of the cargo, such as goods that are easy to dump. (Such as bottled water, water cups, etc.), these goods are classified into a category because they are easy to fall and deviate from the cargo lane.
  • the reference characteristics of this type of goods correspond to the height; for example, fragile goods (such as instant noodles, puffed food, etc.) .
  • This kind of goods are classified as another category because of their fragility, and the reference characteristics of this type of goods correspond to the degree of fragility.
  • the storage device 400 may store the correspondence relationship between the goods and the reference characteristics in advance, and after determining the target goods, the control device 500 determines the reference characteristics of the target goods by searching the correspondence relationship between the goods stored in the storage device 400 and the reference characteristics.
  • the vending machine 010 may further include a detection device (not shown in the figure) provided in the cabinet 101, and the detection device is configured to detect the characteristic value of the goods in the cargo lane 210, and the detection device and the control device 500 is electrically connected.
  • the control device 500 obtains the reference characteristic value of the target cargo in the target cargo lane through the detection device.
  • the detection device includes an image sensor, and the image sensor can measure the height and thickness of the target cargo.
  • the detection device includes a weight sensor. The weight sensor can measure the weight of the target cargo.
  • step S300 the target cargo is sent out from the target cargo lane according to the determined shipping speed.
  • the control device 500 controls the cargo transport mechanism 211 in the target cargo lane to push the target cargo in the target cargo lane into the bucket 310 at a determined shipping speed.
  • the control device 500 controls the motor 210b to rotate at a set angular velocity, so that the motor 210b drives the push plate 210a to move at a determined shipping speed, so that the push plate 210a pushes the target goods from the target The inside of the cargo path moves into the hopper 310.
  • the method for controlling the cargo lane shipment of the vending machine enables the vending machine to automatically adjust the shipping speed of the cargo lane according to the target cargo in the cargo lane, so that goods with fragile, light, thin, high and other characteristics
  • the lower speed is sent to the shipping lane, alleviating the abnormal shipping phenomenon that the goods are easily broken, dumped and deviated from the shipping lane or multiple shipments when the goods are sent to the shipping lane.
  • the problem of abnormal shipment is prone to occur when the cargo lane is sent to the hopper.
  • This embodiment also provides a computer-readable storage medium.
  • a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the method for controlling a cargo lane shipment of the vending machine provided by any of the foregoing embodiments may be implemented. .
  • the method for controlling the cargo lane shipment of the vending machine enables the vending machine to automatically adjust the shipment speed of the target lane where the target cargo is located according to the target cargo, thereby making it fragile, light, and thin.
  • Goods with high characteristics are sent to the shipping lane at a lower speed, which alleviates the abnormal shipping phenomenon that the goods are easily broken, dumped, deviated from the shipping lane, or multiple shipments when the goods are sent to the shipping lane, and solves the automatic problem in related technologies.
  • Vending machines are prone to abnormal shipment problems when sending goods from the cargo lane to the hopper.
  • the vending machine provided in this application includes a control device and a plurality of cargo lanes. Each cargo lane is provided with a cargo transport mechanism electrically connected to the control device.
  • the control device is configured to implement the above-mentioned method for controlling the cargo lane shipment of the vending machine. Therefore, the vending machine has the above-mentioned beneficial effects.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Vending Devices And Auxiliary Devices For Vending Devices (AREA)

Abstract

La présente invention concerne un distributeur automatique et un procédé de commande de distribution de marchandises d'allée de marchandises associé. Le procédé de commande de distribution de marchandises d'allée de marchandises pour un distributeur automatique consiste à : selon un bon de commande entré, déterminer des marchandises cibles à vendre et une allée de marchandises cible qui contient les marchandises cibles (S100) ; selon les marchandises cibles, déterminer une vitesse de distribution de marchandises pour l'allée de marchandises cible (S200) ; et selon la vitesse de distribution de marchandises déterminée, envoyer les marchandises cibles à partir de l'allée de marchandises cible (S300).
PCT/CN2019/095829 2018-07-16 2019-07-12 Distributeur automatique et procédé de commande de distribution de marchandises associé WO2020015588A1 (fr)

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CN201810780054.2A CN110728790B (zh) 2018-07-16 2018-07-16 自动售货机及其货道出货控制方法
CN201810780054.2 2018-07-16

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JPH11265484A (ja) * 1998-03-16 1999-09-28 Sanden Corp 自動販売機
EP2568453A1 (fr) * 2011-09-08 2013-03-13 Sielaff Gmbh & Co. Kg Automatenbau Rayon de marchandises, dispositif de prélèvement, automate de vente et procédé

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JP2002258948A (ja) * 2001-03-01 2002-09-13 Kito Corp 移動体の走行制御方法及び走行制御装置
JP4830243B2 (ja) * 2001-09-11 2011-12-07 富士電機リテイルシステムズ株式会社 カップ式自動販売機
JP2006235684A (ja) * 2005-02-22 2006-09-07 Sanden Corp 自動販売機
JP2006318026A (ja) * 2005-05-10 2006-11-24 Sanden Corp 自動販売機の商品搬出装置
JP4508233B2 (ja) * 2007-12-06 2010-07-21 村田機械株式会社 仕分け装置
DE102012101267A1 (de) * 2012-02-17 2013-08-22 Wincor Nixdorf International Gmbh Kassensystemanordnung
CN206921205U (zh) * 2017-07-18 2018-01-23 百达致胜（北京）科技有限公司 一种售卖机的自动出货机械手

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11265484A (ja) * 1998-03-16 1999-09-28 Sanden Corp 自動販売機
EP2568453A1 (fr) * 2011-09-08 2013-03-13 Sielaff Gmbh & Co. Kg Automatenbau Rayon de marchandises, dispositif de prélèvement, automate de vente et procédé

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