JP2007148636A - Vending machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vending machine for preventing the damage of a commodity in the case of grasping the commodity by a gripping mechanism. <P>SOLUTION: When the movement of each finger unit 221 to a predetermined position is detected by a finger position detector 227 in the case of gripping a commodity A by a gripping mechanism 220, the gripping operation of the gripping mechanism 220 is stopped so that it is possible to stop the finger unit 221 at a predetermined closing position without detecting the grip of the commodity A by a detection part 222f, and to grip the commodity A without generating any damage in the case of gripping the soft commodity A such as food put in a soft container. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vending machine capable of carrying out a product stored in a product storage column to a predetermined product delivery position.

Conventionally, as this kind of vending machine, a plurality of products are provided so that a plurality of products can be stored side by side in the front-rear direction, a plurality of product storage columns arranged in the vertical direction and the width direction in the vending machine body, and each product storage A gripping mechanism that can be gripped by sandwiching a product located on the front end side of the column, and a gripping mechanism that is provided on the front side of the vending machine main body, moves the gripping mechanism to the front end side of a predetermined product storage column, and grips the product There is known one that includes a moving mechanism that moves the gripping mechanism that has been moved to a product carry-out position (for example, see Patent Document 1).
JP-A-11-154266

  However, in the conventional vending machine, since the gripping force of the gripping mechanism applied to the product to be gripped is set to a predetermined gripping force, when gripping a soft product such as food in a soft container, the gripping mechanism There is a problem that the types of products that can be sold are limited because the product may be damaged by the gripping force.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a vending machine capable of preventing the product from being damaged when the product is gripped by the gripping mechanism.

  In order to achieve the above object, the present invention provides a plurality of product storage columns provided so that a plurality of products can be stored side by side in the front-rear direction, and a grip that sandwiches products located on the front end side of each product storage column from both sides in the width direction. In the vending machine provided with a mechanism, the gripping mechanism comprises a pair of fingers in the width direction, a finger drive mechanism for opening and closing the fingers, and a finger position detecting means capable of detecting the position of each finger, When the fingers are moved in the closing direction by the finger driving mechanism, finger movement control means for stopping the finger driving mechanism is provided when movement of each finger to a predetermined position is detected by the finger position detecting means.

  Thereby, when each finger moves to a predetermined position, the driving of the finger drive mechanism is stopped, so that each finger can be stopped at a predetermined closed position.

  According to the present invention, since each finger can be stopped at a predetermined closed position, for example, when a soft product such as food in a soft container is gripped, the product can be gripped without causing damage. It becomes.

  1 to 24 show an embodiment of the present invention. FIG. 1 is an overall perspective view of the vending machine, FIG. 2 is an overall perspective view of the vending machine showing a state in which an outer door is opened, and FIG. FIG. 4 is an overall perspective view of the product gripping unit, FIG. 5 is an overall perspective view of the product gripping unit showing a state in which the product gripping machine is moved rearward, and FIGS. 9 is an exploded perspective view of the machine, FIG. 9 is a side sectional view of the product gripping machine, FIGS. 10 and 11 are plan sectional views of the product gripping machine, FIG. 12 is a front sectional view of the product gripping machine, and FIG. 14 is a plan view showing the positional relationship between the substrate and the contactor, FIG. 15 is a bottom view of the finger position detector, FIGS. 16 and 17 are exploded perspective views of the gripper holder, and FIG. 18 is a block diagram showing the control system. 19 to 22 are operation explanatory views showing the operation of the product gripping unit, and FIG. Plan sectional view of a product gripper showing the gripping state, FIG 24 is a flowchart relating to the grasping operation control.

  This vending machine includes a vending machine body 10 having an opening on the front surface, an outer door 20 that can be opened and closed at one end in the width direction of the opening of the vending machine body 10, and an opening of the vending machine body 10. And an operation door 30 capable of opening and closing the other end in the width direction.

  The vending machine main body 10 is formed by a heat insulating wall and partitions the interior in the width direction by the heat insulating wall, thereby storing a product storage 11 for storing the product A for sale and equipment related to the sales operation. The equipment storage is formed.

  The outer door 20 is rotatably supported at one end in the width direction of the vending machine body 10 so as to open and close the front surface of the commodity storage 11. Moreover, the outer door 20 is comprised from the transparent plate 21 which consists of glass, resin, etc. and the frame member 22 provided in the outer peripheral part of the transparent plate 21, and the inside of the goods storage 11 can be visually recognized from the exterior. ing.

  The operation door 30 is rotatably supported on the other end in the width direction of the vending machine body 10 so as to open and close the front surface of the equipment storage. In addition, a coin insertion slot 31, a return lever 32, a money amount display unit 33, a bill insertion slot 34, a product selection unit 35, a coin return port 36, and a product extraction port 37 are provided on the front surface of the operation door 30.

  Further, the product storage 11 includes a plurality of product storage columns 50 arranged in the width direction on a plurality of upper and lower shelf boards 40 and a product gripping unit for gripping the product A stored in the product storage column 50. 100 and a unit moving device 60 as a second moving mechanism for moving the product gripping unit 100 in the vertical direction and the width direction are provided. The product storage 11 is cooled or heated by a cooler and an electric heater (not shown). Furthermore, a machine room 11a for storing refrigeration equipment (not shown) such as a compressor and a condenser is provided in the lower part of the commodity storage 11.

  Each product storage column 50 has a pair of product passages 52 extending in the front-rear direction by side walls 51 extending in the front-rear direction, and a plurality of products A are stored in the product passages 52 side by side in the front-rear direction. Yes. Each product passage 52 is provided with an extrusion plate 53 urged toward the front end side of the product passage 52 by an urging means (not shown), and the product A is stored on the front side of the extrusion plate 53. Yes. Further, each product passage 53 is provided with a gate 54 that can open and close the front end side so as to extend in the width direction, and is provided on the front end side of the side wall 51 located between each product passage 53 so as to be movable in the front-rear direction. Each gate 54 is connected to the gate opening member 54a. That is, by moving the gate opening member 54a backward by the operation of the product gripping unit 100, each gate 54 is rotated downward to open the front end side of each product passage 53. Further, the gate opening member 54a is urged forward, and by moving forward by the urging force, each gate 54 rotates upward and the front end side of each product passage 53 is closed. Yes.

  The merchandise gripping unit 100 includes a merchandise gripping machine 200 for gripping the merchandise A located on the front end side of the merchandise storage column 50, and a gripping machine as a support member for supporting the merchandise gripping machine 200 movably in the front-rear direction. A holder 300.

  The product gripping machine 200 includes a gripping mechanism 220 provided inside a frame 210 made of a substantially box-shaped member whose back side is open, a moving mechanism 230 provided on the top of the frame 210, and a lower back of the frame 210. A pair of width-wise gate opening plates 240 provided, and a frame cover 250 that covers both sides in the width direction and the front side of the frame 210 are provided.

  The gripping mechanism 220 is provided on the inner side in the width direction of the pair of finger units 221 arranged in the vertical direction and the finger units 221 arranged in the vertical direction, and the upper and lower finger units 221 are engaged with each other so as to be movable in the width direction. A pair of width direction unit guides 222, a rack 223 provided so as to extend inward in the width direction from each unit guide 222, a pinion 225 connected to a drive shaft 224 extending in the vertical direction, and a lower end of the drive shaft 224 A drive unit 226 for transmitting rotational force to the drive shaft 224, and a finger position detector 227 for connecting the upper end side of the drive shaft 224 and detecting the position of the finger unit 221. Yes.

  Each finger unit 221 has a finger plate 221a that contacts the side surface of the product A, a finger base 221b that engages with the unit guide 222 and is positioned on the inner side in the width direction of the finger plate 221a, and the finger unit 221 on the unit guide 222 side. And a spring mounting plate 221d for mounting one end side of the tension spring 221c for urging the spring, and are integrally provided by screwing. The finger plate 221a is made of a flexible member extending in the front-rear direction, and a grip pad 221e made of a sheet-like rubber member for securely holding the product A is attached to a portion where the product A abuts. Yes. The finger base 221b is formed so as to be movably fitted in a width direction, which will be described later, formed in the unit guide 222. Further, an engaging portion 221f that engages with an engaging protrusion formed in a concave portion of the unit guide 222 is provided on one end surface of the finger base 221b in the vertical direction. Further, an extension part 221g is formed on the rear end side of the finger base 221b so as to extend rearward from the unit guide 222, and the finger plate 221a is screwed together with the extension part 221g, so that the extension part 221g The finger plate 221a is prevented from being bent more than a predetermined amount. The spring mounting plate 221d is a thin plate-like member having a pair of front and rear engaging portions 221h with which the hooks of the tension spring 221c can be engaged. It is adjustable. Further, a tension spring 221c is inserted through each finger plate 221a and each finger base 221b.

  Each unit guide 222 is formed with a concave portion 222a for fitting the finger base 221b so as to be movable in the width direction on both sides in the vertical direction on the outer side in the width direction. A pair of front and rear engaging portions 222b for engaging the side hooks are formed. An engagement protrusion 222c that engages with the engagement portion 221f of the finger base 221b is provided on one end surface in the vertical direction in each recess 222a, and a predetermined distance to the unit guide 222 in the width direction outside of the finger unit 221. The above movement is regulated. In one unit guide 222 in the width direction, a rack 223 is provided so as to extend in the width direction on the rear end side of a substantially central portion in the vertical direction inside the width direction, and the rack 223 provided in the other unit guide 222 on the front end side. Is provided with a through-hole 222d. On the other unit guide 222 in the width direction, a rack 223 is provided so as to extend in the width direction on the front end side of the center in the vertical direction on the inner side in the width direction, and a rack 223 provided on one unit guide 223 on the rear end side. A penetrating rack through hole 222d is provided. Further, one unit guide 222 has a compression spring 222e for preventing rattling between the rack 223 and the pinion 225 by biasing the rack 223 provided integrally with the unit guide 222 in the width direction. Is provided so as to extend outward in the width direction from a substantially central portion in the vertical direction on the outer side in the width direction. The other unit guide 222 is provided with a detection portion 222f for detecting the movement of the finger unit 221 at the center in the vertical direction on the front side, and is provided on each finger unit 221 that engages with the other unit guide 222. The detected member 222g is detected. Here, a transmission type photosensor having a light emitting unit and a light receiving unit is used as the detection unit 222f. When the finger unit 221 is positioned on the outer side in the width direction with respect to the unit guide 222, the detected member 222g has a leading end positioned between the light emitting unit and the light receiving unit of the detection unit 222f and enters the light receiving unit. It is provided so as to block the light of the light emitting part. In addition, a cable 222h for electrical wiring is connected to the detection unit 222f, and a cable protection member fixed to the frame 210 is provided on the detection unit 222f side of the cable 222h to secure a space in which the cable 222h moves. 211 is protected. The cable protection member 211 is provided in a tubular shape that has a rectangular cross section and extends in the vertical direction, and a cable 222h is inserted through the cable protection member 211 so as to be movable in the width direction.

  In addition, the pair of finger units 221 in the width direction positioned on the upper side and the pair of finger units 221 in the width direction positioned on the lower side are provided so as to extend in the width direction and are a pair of front and rear finger guide shafts supported by the frame 210. 212 are supported so as to be movable in the width direction.

  Each rack 223 is provided in each unit guide 222 so that the teeth 223a face each other, and meshes with one pinion 225 located between the racks 223. In addition, extending portions 223b extending to the pinion 225 side in the width direction are formed at the upper and lower ends of the teeth 223a of each rack 223, and abut against cylindrical portions (described later) provided at the upper and lower ends of the teeth of the pinion 225. It is like that. That is, the extension part 223b of each rack 223 contacts the cylindrical part of the pinion 225 so that the distance between the center of each rack 223 and the pinion 225 is maintained at an appropriate distance. Further, each rack 223 is supported by a rack guide shaft 213 having a rectangular cross section extending in the width direction supported by the frame 210 so as to be movable in the width direction.

  The pinion 225 is provided such that a shaft insertion hole 225a having substantially the same cross-sectional shape as that of the drive shaft 224 formed in a rectangular cross-section extends in the axial direction. The pinion 225 is configured to rotate together with the drive shaft 224 without fixing the pinion 225 to the drive shaft 224 by inserting the drive shaft 224 through the shaft insertion hole 225a. In addition, a cylindrical portion 225c formed smaller than the outer diameter of the gear portion 225b is provided at both upper and lower ends of the pinion 225, and the extending portion 223b of each rack 223 comes into contact with the cylindrical portion 225c. That is, when the extending portion 223b of each rack 223 abuts on the cylindrical portion 225c of the pinion 225, the distance between the center of the pinion 225 and each rack 223 is maintained at an appropriate distance, and the appropriate distance between the pinion 225 and each rack 223 is maintained. It is possible to maintain a proper mesh. Further, the extension portions 223b of the racks 223 are positioned at both ends in the axial direction of the gear portion 225b of the pinion 225, so that the pinions 225 are vertically moved by the racks 223 without fixing the pinions 225 to the drive shafts 224. It is designed to be positioned.

  The drive unit 226 includes a gripping motor 226a and a gear box 226b, and is fixed to a lower reinforcing plate 214 for reinforcing the lower portion of the frame 210. The gripping motor 226a is provided so as to be able to rotate forward and backward, and rotates the drive shaft 224 forward and backward via a gear box 226b. In addition, the gear box 226b is provided with a bearing 226c as a connecting portion into which the lower end of the drive shaft 224 is fitted. By fitting the drive shaft 224 into the bearing 226c, a holding motor is not required. The power of 226a can be transmitted to the drive shaft 224.

  The finger position detector 227 is fixed to an upper reinforcing plate 215 for reinforcing the upper portion of the frame 210, and detects the rotational position of the drive shaft 224. The finger position detector 227 is connected to the upper end of the drive shaft 224 via a bearing 227a, and rotates with the drive shaft 224, and a substrate 227f on which the contact pieces 227c, 227d, 227e of the contact 227b slide. have. The contact 227b is made of a metal member that can be energized, and is provided such that three contact pieces 227c, 227d, and 227e that contact the substrate 227f extend obliquely downward. The contact pieces 227c, 227d, and 227e of the contact 227b are provided so as to be arranged in the radial direction from the rotation center of the drive shaft 224, and slide on the substrate 227f by the rotation of the drive shaft 224. On the substrate 227f, arc-shaped first wiring 227g, second wiring 227h, and third wiring 227i having different radii around the rotation center of the drive shaft 224 are printed. The first wiring 227g extends from the rotational position of the drive shaft 224 corresponding to the position where each finger unit 221 is completely opened to the rotational position of the drive shaft 224 corresponding to the position where each finger unit 221 is completely closed. A contact point 227j with which the contact piece 227c comes into contact is provided. Further, the second wiring 227h includes a rotational position of the drive shaft 224 corresponding to a position where each finger unit 221 is completely opened, and a rotational position of the drive shaft 224 corresponding to a predetermined closed position of each finger unit 221. Contact points 227k with which the contact pieces 227d come into contact with the rotational positions of the drive shaft 224 corresponding to the positions at which the finger units 221 are completely closed are provided. Further, the third wiring 227i is provided with a contact 227l with which the contact piece 227e contacts the rotational position of the drive shaft 224 corresponding to the position at which each finger unit 221 is completely opened. That is, as shown in FIG. 14 (a), the finger position detector 227 has the second wiring 227h and the second wiring 227h by the contact 227b at the rotational position of the drive shaft 224 corresponding to the position at which each finger unit 221 is completely opened. By connecting the third wiring 227i and the first wiring 227g, a circuit that outputs a detection signal indicating a state in which each finger unit 221 is completely opened is configured. Further, as shown in FIGS. 14B and 14C, the finger position detector 227 completely closes the rotational position of the drive shaft 224 corresponding to the predetermined closed position of each finger unit 221 and each finger unit 221. The second wiring 227h and the first wiring 227g are connected by the contact 227b at the rotational position of the drive shaft 224 corresponding to the position where the finger shaft 224 is completely closed. A circuit is configured to output a detection signal indicating that the unit 221 is located at a predetermined closed position. The finger position detector 227 includes an upper case 227m and a lower case 227n that store the bearing 227a, the contact 227b, and the substrate 227f. As shown in FIG. 15, the bearing 227a and the lower case 227n are provided with marks 227o indicating the rotational position of the contact 227b with respect to the substrate 227f when the drive shaft 224 is assembled to the bearing 227a.

  The moving mechanism 230 includes a moving motor 231 attached to the upper portion of the frame 210, a pair of driving rollers 232 connected to the moving motor 231 and rotating on the rail of the gripper holder 300, and each driving roller. 232 is provided with a pair of driven rollers 233 in the width direction rotatably supported by the frame 210 positioned in front of the H. 232, and the product holding machine 200 is moved back and forth with respect to the holding machine holder 300 by the rotation of the driving roller 232. It has become. The moving motor 231 is provided so as to be able to rotate forward and backward, and rotates the driving roller 232 forward and backward via a gear box 231a. Each drive roller 232 has a gear portion 232a formed inside in the width direction, and a cylindrical portion 232b formed larger than the outer diameter of the gear portion 232a is provided outside the gear portion 232a in the width direction. The driven roller 233 is formed to have the same axial and radial dimensions as the cylindrical portion 232 b of the driving roller 232, and is supported by the frame 210 so as to be aligned with the cylindrical portion 232 b of the driving roller 232. Also, below each drive roller 232, a guide roller 234 is provided as a posture holding portion that is rotatably supported by the frame 210, and the guide roller 234 abuts on a lower surface of a rail (to be described later) of the gripper holder 300. By doing so, the attitude of the product gripping machine 200 is held in a state where the product gripping machine 200 is moved rearward with respect to the gripping machine holder 300.

  In addition, a cable 231b for supplying driving power is connected to the gripper motor 226a serving as the power source of the gripping mechanism 220 and the moving motor 231 serving as the power source of the moving mechanism 230. It is connected to the product gripping machine 200 through 300. The cables 222h and 231b are formed such that the length from the gripping machine holder 300 to the product gripping machine 200 is longer than the movable length of the product gripping machine 200 with respect to the gripping machine holder 300. Can be moved backward with respect to the gripper holder 300 by a predetermined amount or more. The cables 222h and 231b are folded and stored when the product gripping machine 200 is positioned forward.

  Each gate opening plate 240 is fixed to the frame 210 positioned on the outer side in the width direction of the lower finger plate 221a, and is provided so as to protrude rearward from the rear end of the finger plate 221a. Each gate opening plate 240 comes into contact with the front end side of the gate opening member 54a of the product storage column 50 by moving the product gripping machine 200 rearward.

  The frame cover 250 is attached to the frame 210 together with a reinforcing member 216 extending in the width direction that reinforces the central portion in the vertical direction of the opening on the back side of the frame 210 and each gate opening plate 240. Further, the frame cover 250 covers each finger guide shaft 212 and each rack guide shaft 213 by covering the both ends of each finger guide shaft 212 and each rack guide shaft 213 supported by the frame 210 from the outside of the frame 210. It is designed to be fixed. Further, the end of a compression spring 222e provided in one unit guide 222 contacts the frame cover 250 via a spring insertion hole 217 provided in the frame 210, and one unit guide 222 is moved in the other in the width direction. Energizing the racks 223 and the pinions 225 prevents rattling.

  Further, a product guide plate 218 for preventing the product A to be gripped from being caught by the gripping mechanism 220 is provided on the back side of the frame 210 so as to extend in the vertical direction at the center in the width direction. The product guide plate 218 is provided with a pair of flanges 218a extending rearward from both sides in the width direction, and the upper end side and the lower end side thereof are notched so as to incline toward the rear.

  The gripper holder 300 includes a holder main body 310 positioned at the top, a pair of width direction rails 320 extending rearward from the holder main body 310, a pair of width direction side plates 330 positioned on both side surfaces in the width direction, and a front side. And a front plate 340 which is positioned.

  The holder body 310 has a pair of engaging portions 311 extending in the front-rear direction in the width direction on the upper surface, and is detachably attached to the unit mobile unit 60.

  Each rail 320 is provided with a rack portion 324 and a groove portion 325 on the upper surface of the bottom surface portion 322 of the rail body 323 having an L-shaped cross section having a side wall portion 321 and a bottom surface portion 322. It is provided to extend. The rack portion 324 is continuously provided with teeth so as to extend in the front-rear direction on the inner side in the width direction of the bottom surface portion 322, and the gear portion 232 a of the drive roller 232 of the product gripping machine 200 rotates. The groove portion 325 is provided so as to extend in the front-rear direction on the outer side in the width direction of the rack portion 324, and guides the cylindrical portion 232 b and the driven roller 233 of the driving roller 232 of the product gripping machine 200. In order to reduce the vertical dimension of the product gripping unit 100, a notch 321 a is provided on the upper front end of the side wall 321 of the rail body 323.

  Each side plate 330 is provided with a bent portion 331 by bending the front end side in the width direction in the vertical direction, and the front plate 340 is attached to the side plate 330 on the upper end side and the lower end side of the bent portion 331. A square hole 332 is provided.

  The front plate 340 is made of a plate-like member that is formed in a rectangular shape that covers the entire front side of the gripper holder 300, and is configured to be detachable from the side plate 330. Guide plates 341 provided for positioning the side plates 330 in the width direction with respect to the front plate 340 are provided at both ends in the width direction on the back side of the front plate 340 so as to extend in the vertical direction. . Each guide plate 341 has a width direction dimension slightly larger than the width direction dimension of the bent portion 331, and extending portions 342 are provided at both ends so as to cover both ends of the bent portion 331 in the width direction from the side. Is provided. Further, each guide plate 341 is provided with an engaging piece 343 extending downward by cutting and raising the center portion in the width direction on the upper end side and the lower end side, and the engaging piece 343 is provided on the bent portion 331 of the side plate 330. The front plate 340 is attached to the side plate 330 by engaging with each square hole 332. The front plate 340 has a display surface 344 on the front side that can display information on merchandise, advertisements, and the like, and the information to be displayed can be switched by replacing the front plate 340. In addition to printing the information to be displayed on the display surface 344, the information may be displayed by electrical decorations such as LEDs, or a display device such as a liquid crystal display may be provided to display the information.

  The unit moving device 60 is provided on the front side of the product storage 11 and has a width direction moving mechanism 61 for moving the product gripping unit 100 in the width direction and a vertical direction for moving the product gripping unit 100 in the vertical direction. The moving mechanism 62 includes a belt and a pulley, a chain, a sprocket, a feed screw, and the like, each of which is configured by a mechanism (not shown) that converts a rotational motion into a linear motion. The width direction moving mechanism 61 and the vertical direction moving mechanism 62 are driven by a width direction moving motor 61a and a vertical direction moving motor 62a, respectively, so as to move the product gripping unit 100 in the width direction and the vertical direction. It has become.

  The control unit 70 is constituted by a microcomputer, and a program related to the sales operation control of the product A and the internal temperature control of the product storage 11 is stored in the memory. Further, as shown in FIG. 18, a motor drive unit 71 and a signal detection unit 72 are connected to the control unit 70, and a gripping motor 226 a is connected to the motor drive unit 71. The signal detection unit 72 is connected to the detection unit 222f and the finger position detector 227, detects the currents of the detection unit 222f and the finger position detector 227, and outputs a detection signal to the control unit 70. Yes.

  In the vending machine configured as described above, when a predetermined amount of money is inserted by the user from the coin insertion slot 31 or the bill insertion slot 34 and the product A in the product storage column 50 is selected by the product selection unit 35, First, as shown in FIG. 19, the product gripping unit 100 located at a predetermined standby position is moved to the front end side of a predetermined product storage column 50 by a unit moving device 60 and driven by moving the moving mechanism 230. The machine 200 is moved backward. At this time, as shown in FIG. 20, the product gripping unit 100 moves the gate opening member 54a backward by one of the gate opening plates 240 provided in the product gripping machine 200, and rotates the gate 54 downward. The front end side of the product passage 53 is opened. Further, the product gripping unit 100 moves the product gripping machine 200 rearward with respect to the gripper holder 300 until the product A is located between the finger plates 221a. Next, the product gripping unit 100 performs a gripping operation by the gripping mechanism 220, and stops the gripping operation of the gripping mechanism 220 when the gripping of the product A is detected by the detection unit 222f. After stopping the gripping operation, the product gripping unit 100 lifts the product A upward by the unit moving device 60 and moves the product gripping device 200 forward by the moving mechanism 230, as shown in FIG. The product gripping unit 100 in a state where the product gripping machine 200 shown in FIG. 22 has moved forward moves the product A by the gripping mechanism 220 after moving to a predetermined product delivery position near the product outlet 37 by the unit moving device 60. The operation is terminated after moving to a predetermined standby position.

  The gripping mechanism 220 when gripping the product A is such that each unit guide 222 and each finger unit 221 both move inward in the width direction and the finger plates 221a come into contact with both sides in the width direction of the product A. Moves inward in the width direction. At this time, since the tension of the tension spring 221c acts between the unit guide 222 and the finger unit 221 as shown in FIG. 23, the product A is gripped with a predetermined force by the tension of the tension spring 221c. .

  In addition, the gripping mechanism 220 for gripping the product A having a soft outer surface, such as food in a bag-like container, is configured so that the finger unit 221 is in contact with the unit guide 222 even if the finger plate 221a contacts the product A. Since the product A is crushed without moving outward in the width direction against the urging force of the tension spring 221c, a predetermined closing position of the finger unit 221 is detected by the finger position detector 227 and the gripping operation is stopped. The operation of the control unit at this time will be described with reference to the flowchart of FIG. First, an operation of closing the finger unit 221 is started (step S1), and the finger position detector 227 detects a predetermined closed position of the finger unit 221 without detecting the gripping of the product A by the detection unit 222f (step S2). When detected (step S3), the operation of closing the finger unit 221 is stopped (step S4). Moreover, the operation | movement which closes the finger unit 221 is started (step S1), and if holding | grip of the goods A is detected by the detection part 222f before the finger unit 221 moves to a predetermined closed position (step S2), the finger unit 221 will be moved. The closing operation is stopped (step S4).

  As described above, according to the vending machine of the present embodiment, when the product A is gripped by the gripping mechanism 220, when the finger position detector 227 detects the movement of each finger unit 221 to a predetermined position, the gripping mechanism 220. Since the gripping operation is stopped, the finger unit 221 can be stopped at a predetermined closed position without detecting the gripping of the product A by the detection unit 222f. For example, soft food such as food in a soft container can be stopped. When the product A or the like is gripped, the product A can be gripped without causing damage by stopping the finger unit 221 at a predetermined position.

  In addition, since the finger position detector 227 is configured to detect the rotational position of the drive shaft 224 corresponding to the position of each finger unit 221, it is possible to detect the position of the finger unit 221 from the rotational position of the drive shaft 224. In addition, the finger position detector 227 can be configured at low cost by a sensor that can detect the existing rotational position.

  Further, the substrate 227f on which the first wiring 227g, the second wiring 227h, and the third wiring 227i are printed on the upper surface, and the first wiring 227g, the second wiring 227h, and the like at a predetermined rotational position of the drive shaft 224 Since the finger position detector 227 is configured from the contact 227b that can constitute a circuit for distributing electricity as a detection signal by connecting the third wiring 227i, the finger position detector 227 is configured with a simple configuration. Therefore, it is not necessary to use an expensive sensor, and the manufacturing cost can be reduced.

Overall perspective view of vending machine Whole perspective view of vending machine showing the state where the outer door is opened Side view of vending machine Overall perspective view of the product gripping unit Whole perspective view of the product gripping unit showing a state in which the product gripping machine is moved backward Exploded perspective view of product gripping machine Exploded perspective view of product gripping machine Exploded perspective view of product gripping machine Side cross-sectional view of product gripping machine Plan sectional view of product gripping machine Plan sectional view of product gripping machine Front sectional view of product gripping machine Plan view of substrate Plan view showing positional relationship between substrate and contact Bottom view of finger position detector Exploded perspective view of gripper holder Exploded perspective view of gripper holder Block diagram showing the control system Operation explanatory diagram showing the operation of the product gripping unit Operation explanatory diagram showing the operation of the product gripping unit Operation explanatory diagram showing the operation of the product gripping unit Operation explanatory diagram showing the operation of the product gripping unit Plan sectional view of the product gripping machine showing the state of gripping the product Flow chart for gripping motion control

Explanation of symbols

  DESCRIPTION OF SYMBOLS 50 ... Product storage column, 70 ... Control part, 71 ... Motor drive part, 72 ... Signal detection part, 100 ... Product gripping unit, 200 ... Product gripping machine, 220 ... Grip mechanism, 221 ... Finger unit, 222 ... Unit guide, 223 ... Rack, 224 ... Drive shaft, 225 ... Pinion, 226 ... Drive unit, 226a ... Gripping motor, 226b ... Gear box, 227 ... Finger position detector, 227a ... Bearing, 227b ... Contact, 227f ... Substrate, 227g ... 1st wiring, 227h ... 2nd wiring, 227i ... 3rd wiring, 227o ... mark, 300 ... gripper holder, A ... commodity.

Claims (5)

In a vending machine comprising a plurality of product storage columns provided so that a plurality of products can be stored side by side in the front-rear direction, and a gripping mechanism for sandwiching products located on the front end side of each product storage column from both sides in the width direction,
The gripping mechanism is composed of a pair of fingers in the width direction, a finger driving mechanism for opening and closing the fingers, and finger position detecting means capable of detecting the position of each finger,
When each finger is moved in the closing direction by the finger driving mechanism, it is provided with finger operation control means for stopping the finger driving mechanism when movement of each finger to a predetermined position is detected by the finger position detecting means. Vending machine. The finger drive mechanism comprises a drive shaft that is rotated by the power of a drive source, and a power conversion mechanism that converts the rotational force of the drive shaft into movement in the width direction of each finger,
The vending machine according to claim 1, further comprising: a shaft rotation position detection unit capable of detecting a rotation position of the drive shaft corresponding to the position of each finger as the finger position detection unit. The shaft rotation position detecting means is provided so as to rotate together with a substrate having a plurality of wirings printed on the upper surface and a drive shaft, and as a detection signal by connecting predetermined wires at a predetermined rotation position of the drive shaft. The vending machine according to claim 2, wherein the vending machine comprises a contact capable of constituting a circuit for conducting electricity. The vending machine according to claim 3, wherein a mark indicating a rotation position of the contact with respect to the substrate when the drive shaft is assembled on the contact side is provided on the contact side and the substrate side. Gripping detection means capable of detecting gripping of a product by the fingers;
When gripping of the product is detected by the grip detection means, a finger operation stop means for stopping the finger drive mechanism is provided,
When the finger motion control means moves each finger in the closing direction by the finger drive mechanism, the finger position detection means detects the movement of each finger to a predetermined position without detecting the grip of the product by the grip detection means. The vending machine according to claim 1, wherein the finger driving mechanism is configured to stop.

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