Pickup mechanism of a vending machine and its shipping method

Abstract

The present invention discloses a goods-taking mechanism for a vending machine, which comprises a vending machine body and a motor. A goods channel assembly is arranged inside the vending machine body. The goods channel assembly includes a goods tray. Partition plates are symmetrically arranged on the upper surface of the goods tray. A spring is arranged on the upper surface of the goods tray. The end of the output shaft of the motor is fixedly connected with a rotating shaft. A fixed block is fixedly connected to one end of the rotating shaft. Symmetrically fixed connections are arranged on both sides of the pressing plate with lead screws. One end of each of the two groups of lead screws penetrates through one side of a support block and is threadedly connected with a locking nut. The purpose of the present invention is to provide a goods-taking mechanism for a vending machine. Through the design of this device, the existing spring goods channel type vending machine is optimized, so that it does not need to replenish goods one by one manually during replenishment, which saves time and effort and improves the practical rate of this device to a certain extent, so as to solve the problems raised in the above-mentioned background technology.

Description

Technical Field

[0001] The present invention relates to the technical field of spring channel vending machines, and specifically relates to a goods taking mechanism of a vending machine. It also discloses a goods discharging method of a vending machine. Background Technique

[0002] With the continuous development of modern society, people are increasingly inclined to a convenient, efficient and fast pace of life. To adapt to such development, a new type of physical store, namely a vending machine, has emerged as the times require. Vending machines have been very popular in developed countries such as Europe, America and Japan, and can effectively reduce the labor costs in the retail industry, remote demand regions and other practical problems; in our country, in recent years, the vending machine industry and its surrounding industries have also developed vigorously. However, starting late, having a weak foundation and insufficient technical accumulation have also led to limitations in the fields of goods sold by vending machines at present.

[0003] A vending machine is a machine that can automatically deliver goods according to the inserted coins or online payments. It can be widely set in various places with a large space to sell various daily consumable small commodities, saving time and effort and facilitating transactions. However, when replenishing goods in the existing spring channel vending machine, it is necessary to manually push the push plate backward and then manually supplement the goods into the channels one by one, which is time-consuming and laborious. Therefore, we propose a goods taking mechanism of a vending machine. Summary of the Invention

[0004] The purpose of the present invention is to provide a goods taking mechanism of a vending machine. Through the design of this device, the existing spring channel vending machine is optimized, so that it does not need to replenish goods manually one by one during replenishment, saving time and effort, and improving the practicality of this device to a certain extent, so as to solve the problems raised in the above background technique.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A goods taking mechanism of a vending machine, including a vending machine body and a motor. A channel component is arranged inside the vending machine body. The channel component includes a goods tray. Partition plates are symmetrically arranged on the upper surface of the goods tray. A spring is arranged on the upper surface of the goods tray. The end of the output shaft of the motor is fixedly connected to a rotating shaft. One end of the rotating shaft is fixedly connected to a fixed block. A fixed component is fixedly connected to one side of the fixed block. The fixed component includes a bottom plate. One side of the fixed block is fixedly connected to one side of the bottom plate. Support blocks are symmetrically arranged on the upper surface of the bottom plate. A pressing plate is slidably connected between the two support blocks. One end of the spring is located between the support block and the pressing plate. Symmetrically fixed connections are arranged on both sides of the pressing plate with lead screws. One end of each of the two lead screws penetrates through one side of the support block and is threadedly connected to a locking nut.

[0006] Preferably, limiting grooves are symmetrically opened on one side of the goods tray, and limiting blocks are symmetrically fixedly connected to the other side of the goods tray. The limiting blocks are in clearance fit with the limiting grooves.

[0007] Preferably, the bottom of the pallet is symmetrically provided with a first leg and a second leg respectively, and the lengths of the two groups of the second legs are both greater than the lengths of the two groups of the first legs.

[0008] Preferably, sliders are symmetrically and fixedly connected to both sides of the pressing plate, and chutes are symmetrically formed on one side of the two groups of supporting blocks, and the sliders are in clearance fit with the chutes.

[0009] Preferably, through grooves are formed on one side of the two groups of supporting blocks at the positions where the lead screws penetrate.

[0010] Preferably, the motor is a DC motor.

[0011] The present invention also provides a method for discharging goods from a vending machine. The discharging method includes a spring chute discharging method, which realizes rapid adjustment of the chute, automatic backward movement during replenishment, and fuzzy addressing.

[0012] Discharging control: When the chute drive control board receives a discharging signal, it drives the DC motor of the corresponding discharging chute. The DC motor rotates forward to push the goods until the discharging sensor of the pick-up hopper detects the goods, and then the motor stops rotating, and the discharging is completed.

[0013] Empty goods control: When the number of discharged goods = the number of inventories, the system considers that the chute is sold out;

[0014] Replenishment control: When the device enters the replenishment mode, the selected chute motor will rotate in reverse, and the push plate chute will rotate in reverse until it stops at the initial position of the push plate. The spring chute and the hook chute are controlled by the buttons on the remote control to reverse for a certain time. It will reverse when pressed and stop when released.

[0015] Pick-up control:

[0016] It includes XY-axis pick-up mechanism control: When the control board receives a discharging signal, it controls the stepping motor of the pick-up mechanism to run to the specified coordinates. Whether the pick-up is successful or not, the pick-up mechanism runs to the pick-up port. If the origin position and the pick-up port are not in the same position, it will return from the pick-up port to the origin position to complete a running cycle of the pick-up mechanism;

[0017] It includes pick-up hopper door opening and closing control: When the pick-up is successful and the pick-up hopper reaches the pick-up port along with the XY-axis pick-up mechanism, the bottom door motor of the pick-up hopper is powered forward until the signal of the bottom door opening position sensor of the pick-up hopper is detected and then stops. When the upper limit position sensor of the pick-up port lifting door detects the signal, the bottom door motor of the pick-up hopper is powered backward until the signal of the bottom door closing position sensor of the pick-up hopper is detected and then stops;

[0018] Including the control of the pick-up port lifting door: After the bottom door of the pick-up hopper is opened, power is supplied to the push rod motor of the pick-up port lifting door in the forward direction until the signal is detected by the lower limit position sensor of the pick-up door. When the signal is detected by the protection grating at the pick-up port until 3 seconds after no signal feedback, or 20 seconds after no signal is detected by the protection grating at the pick-up port, power is supplied to the push rod motor of the pick-up port lifting door in the reverse direction until the signal is detected by the upper limit position sensor of the pick-up door.

[0019] Including during the rise of the pick-up port lifting door, if a signal is detected by the protection grating or a signal is detected by the anti-pinch mechanism sensor, power is supplied to the push rod motor of the pick-up port lifting door in the forward direction until the signal is detected by the lower limit position sensor of the pick-up door. When the signal is detected by the protection grating at the pick-up port until 3 seconds after no signal feedback, power is supplied to the push rod motor of the pick-up port lifting door in the reverse direction until the signal is detected by the upper limit position sensor of the pick-up door.

[0020] Pick-up control:

[0021] Among them, addressing control:

[0022] The first step: Lane positioning and addressing: Before the product is used for the first time or after the lane is adjusted, automatic addressing needs to be carried out to determine the position coordinates of the lane. Automatic addressing can select full addressing or single-layer lane addressing. The automatic addressing range includes the Y-direction coordinates of the spring lane and the X and Y-direction coordinates of the push plate lane;

[0023] During full addressing: The pick-up hopper runs upward from the lower left corner of the device, scans the Y-direction coordinates of each layer of trays one by one and records them, including the spring lane. When the scan reaches the upper limit position, the Y-direction coordinate recording is completed. Then it returns to the left limit of the first layer from the bottom and starts scanning to the right. When a lane is scanned, the current lane coordinates are recorded until the right limit position is scanned, and the addressing of the first layer of the lane is completed. Then the addressing of the second layer of the lane starts, and so on until the search is completed;

[0024] During single-layer addressing: The pick-up hopper starts scanning to the right from the set left limit position of the tray. When a lane is scanned, the current lane coordinates are recorded until the right limit position is scanned, and the addressing of this layer of the lane is completed;

[0025] The second step: Lane fuzzy addressing: When the automatic addressing is completed, the difference between the set number of lanes and the number of addressed lanes is used as the fuzzy addressed lanes. The address of the lane is a fixed position on the right, that is: when shipping, the pick-up hopper stays at the X-direction coordinate of the fixed position on the right.

[0026] Step 3: Shipping Addressing: When the selected goods lane ships goods, the goods picking hopper first runs a certain distance along the X direction, temporarily stops in the Y direction, and then selects the nearest running trajectory to reach the coordinates corresponding to the selected goods lane according to a fixed algorithm. When the shipping is completed or fails due to timeout, the goods picking hopper first runs to a fixed position according to a fixed algorithm. At this time, the Y direction runs to the position of the Y-axis origin sensor and stops, and then runs along the X direction to the position of the X-axis origin sensor and stops.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0028] 1. Through the design of the goods lane assembly, the goods are located inside the spring, and the motor is a DC motor. By driving the spring to rotate forward by the motor, shipping is achieved, and by driving the spring to rotate backward by the motor, automatic replenishment is achieved. There is no need to manually pull out the goods tray outside the vending machine to replenish it one by one, which saves time and effort and optimizes the existing spring goods lane type vending machine.

[0029] 2. Through the design of the fixing component, one end of the spring is located between the pressing plate and the bottom plate. The operator lifts the pressing plate through two groups of sliders, locks the pressing plate through two groups of locking nuts, and realizes the pressing and fixing of one end of the spring through the cooperation between the pressing plate and the bottom plate. This is convenient for disassembling and installing the spring for maintenance after the device has been used for a certain period of time, and is also convenient for later replacement. Description of the Drawings

[0030] Figure 1 It is a top view structural schematic diagram of the present invention;

[0031] Figure 2 It is a front view structural schematic diagram of the present invention;

[0032] Figure 3 It is for the Figure 1 Enlarged structural schematic diagram of part A in the present invention;

[0033] Figure 4 It is a front view structural schematic diagram of the vending machine of the present invention;

[0034] Figure 5 It is a structural schematic diagram of the goods lane assembly of the present invention;

[0035] Figure 6 It is the shipping control action sequence;

[0036] Figure 7 It is the empty goods control action sequence;

[0037] Figure 8 It is the replenishment control action sequence of the push plate goods lane;

[0038] Figure 9 It is the replenishment control action sequence of the spring goods lane and the hook goods lane;

[0039] Figure 10 For the picking control action sequence;

[0040] Figure 11 For the addressing control action sequence.

[0041] In the figure: 1. Goods channel component; 101. Tray; 102. Partition; 103. Spring; 2. Limit block; 3. Limit groove; 4. First leg; 5. Second leg; 6. Fixing component; 601. Bottom plate; 602. Support block; 603. Slide block; 604. Slide groove; 605. Lead screw; 606. Locking nut; 607. Pressing plate; 7. Motor; 8. Rotating shaft; 9. Fixed block; 10. Through groove; 11. Vending machine body. Specific implementation mode

[0042] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0043] Please refer to Figures 1 - 5 , the present invention provides a technical solution: a picking mechanism of a vending machine, including a vending machine body 11 and a motor 7. A goods channel component 1 is arranged in the vending machine body 11. The goods channel component 1 includes a tray 101. Partition plates 102 are symmetrically arranged on the upper surface of the tray 101. A spring 103 is arranged on the upper surface of the tray 101. The goods to be sold are located in the notch of the spring 103 on the upper surface of the tray 101 and are limited by two groups of partition plates 102 to prevent tilting;

[0044] The output shaft end of the motor 7 is fixedly connected with a rotating shaft 8. The motor 7 is a DC motor. By designing the motor 7 as a DC motor, when the motor 7 drives the spring 103 to rotate forward, the goods delivery function is realized. When the motor 7 is rotated to drive the spring 103 to rotate reversely, the replenishment function is realized;

[0045] One end of the rotating shaft 8 is fixedly connected with a fixing block 9, and one side of the fixing block 9 is fixedly connected with a fixing component 6. The fixing component 6 includes a bottom plate 601, and one side of the fixing block 9 is fixedly connected to one side of the bottom plate 601. Symmetrically arranged support blocks 602 are provided on the upper surface of the bottom plate 601. A pressing plate 607 is slidably connected between the two groups of support blocks 602. Symmetrically fixed connection sliding blocks 603 are arranged on both sides of the pressing plate 607. Symmetrically arranged sliding grooves 604 are opened on one side of the two groups of support blocks 602. The sliding blocks 603 and the sliding grooves 604 are in clearance fit. One end of the spring 103 is located between the support block 602 and the pressing plate 607. Symmetrically fixed connection lead screws 605 are arranged on both sides of the pressing plate 607. One end of the two groups of lead screws 605 penetrates through one side of the support block 602 and is threadedly connected with a locking nut 606. Through grooves 10 are opened at the positions where the two groups of support blocks 602 penetrate the lead screws 605. Through the sliding connection design of the pressing plate 607 and the cooperation of the two groups of lead screws 605 and the locking nuts 606, the spring is fixed by the pressing plate 607 and the bottom plate 601. After using for a certain period of time, it is convenient for the installation and disassembly of the spring, and also convenient for the later replacement of the spring.

[0046] Symmetrically arranged limiting grooves 3 are opened on one side of the goods tray 101. Symmetrically fixedly connected limiting blocks 2 are arranged on the other side of the goods tray 101. The limiting blocks 2 and the limiting grooves 3 are in clearance fit. Through the design of the limiting blocks 2 and the limiting grooves 3, the cooperation of multiple groups of goods channel components 1 is realized, and the generation of gaps is reduced. First legs 4 and second legs 5 are symmetrically arranged at the bottom of the goods tray 101 respectively. The lengths of the two groups of second legs 5 are both greater than the lengths of the two groups of first legs 4 by 60 mm - 100 mm. Through the design of the two groups of first legs 4 and second legs 5, the goods channel component 1 is realized to be inclined, which reduces the problem of goods jamming during the delivery of the spring 103 to a certain extent and improves the overall utilization rate.

[0047] Working principle: During actual use, through the limiting blocks 2 and the limiting grooves 3, when multiple groups of the device are spliced and used, quick alignment is realized, and the generation of gaps is reduced. The device is installed inside the vending machine. During replenishment, automatic replenishment is realized by the reverse rotation of the motor 7. Workers place the goods in the first notch of the spring 103, and the goods are moved through the rotation of the spring 103 to realize automatic replenishment. There is no need for workers to pull out the goods tray 101 for replenishment, which is time-saving and labor-saving. Multiple groups of springs 103 can be replenished at the same time. The goods are moved through the forward rotation of the motor 7 to realize delivery. Through the design of the two groups of first legs 4 and second legs 5, the goods channel component 1 is realized to be inclined, which reduces the problem of goods jamming during the delivery of the spring 103 to a certain extent. After using the device for a certain period of time, by manually rotating the two groups of locking nuts 606 and manually raising the pressing plate 607, the disassembly of the spring 103 is realized, which is convenient for the later maintenance and replacement of the spring 103, and optimizes the existing spring goods channel vending machine.

[0048] The present invention also provides a method for discharging goods from a vending machine. The discharging method includes a discharging method for a push plate channel, a discharging method for a spring channel, and a discharging method for a hook channel, which realizes rapid adjustment of the channel, automatic retraction during replenishment, and fuzzy addressing.

[0049] As Figure 6 shown, discharging control: When the channel drive control board receives a signal for discharging goods, it drives the DC motor of the corresponding discharging channel. The DC motor rotates forward to push the goods until the goods are detected by the discharging sensor of the pick-up hopper, at which point the motor stops rotating and the discharging is completed.

[0050] As Figure 7 shown, empty channel control: When the number of discharged goods = the number of in-stock goods, the system considers that the channel is out of stock. In addition to the counting method for the push plate channel, when the push plate runs to the front end of the channel, the drive board will detect overcurrent of the motor, and at this time it is considered out of stock. In any case when it is judged that the channel is out of stock, the motor will reverse, driving the push plate to automatically retract to the initial position and stop when detecting reverse overcurrent, waiting for replenishment.

[0051] As Figure 8 and 9 shown, replenishment control: When the device enters the replenishment mode, the selected channel motor will reverse. The push plate channel will reverse until it stops at the initial position of the push plate. For the spring channel and the hook channel, the reverse time is controlled by the buttons on the remote control. It reverses when pressed and stops when released.

[0052] As Figure 10 shown, pick-up control:

[0053] XY-axis pick-up mechanism control: When the control board receives a discharging signal, it controls the stepping motor of the pick-up mechanism to run to the specified coordinates. Whether the pick-up is successful or not, the pick-up mechanism runs to the pick-up port. If the origin position and the pick-up port are not in the same position, it will return from the pick-up port to the origin position, completing one operation cycle of the pick-up mechanism.

[0054] Pick-up hopper door opening and closing control: When the pick-up is successful and the pick-up hopper reaches the pick-up port with the XY-axis pick-up mechanism, the bottom door motor of the pick-up hopper is powered forward until the signal of the bottom door opening position sensor of the pick-up hopper is detected and then stops. When the upper limit position sensor of the pick-up port lifting door detects the signal, the bottom door motor of the pick-up hopper is powered in reverse until the signal of the bottom door closing position sensor of the pick-up hopper is detected and then stops.

[0055] Pickup port lift gate control: After the bottom door of the pickup hopper is opened, power is supplied to the push rod motor of the pickup port lift gate in the forward direction until the signal is detected by the lower limit position sensor of the pickup gate. When the signal is detected by the protection grating at the pickup port until no signal feedback is received for 3 seconds, or when the protection grating at the pickup port does not detect a signal for 20 seconds, power is supplied to the push rod motor of the pickup port lift gate in the reverse direction until the signal is detected by the upper limit position sensor of the pickup gate. If a signal is detected by the protection grating or the anti-pinch mechanism sensor during the upward movement of the pickup port lift gate, power is supplied to the push rod motor of the pickup port lift gate in the forward direction until the signal is detected by the lower limit position sensor of the pickup gate. When the signal is detected by the protection grating at the pickup port until no signal feedback is received for 3 seconds, power is supplied to the push rod motor of the pickup port lift gate in the reverse direction until the signal is detected by the upper limit position sensor of the pickup gate.

[0056] As Figure 11 shown, addressing control:

[0057] Lane positioning and addressing: Before the product is first used or after the lanes are adjusted, automatic addressing is required to determine the position coordinates of the lanes. Automatic addressing can select full addressing or single-layer lane addressing. The automatic addressing range includes the Y-direction coordinates of the spring lanes and the X and Y-direction coordinates of the pusher lanes. During full addressing: The pickup hopper runs upward from the lower left corner of the device, scans the Y-direction coordinates of each layer of trays one by one and records them, including the spring lanes. When the scan reaches the upper limit position, the Y-direction coordinate recording is completed. Then it returns to the left limit of the bottommost first layer of lanes and starts scanning to the right. When a lane is scanned, the current lane coordinates are recorded until the right limit position is scanned, and the addressing of the first layer of lanes is completed. Then the addressing of the second layer of lanes starts, and so on until the search is completed. During single-layer addressing: The pickup hopper starts scanning to the right from the set left limit position of the tray. When a lane is scanned, the current lane coordinates are recorded until the right limit position is scanned, and the addressing of this layer of lanes is completed.

[0058] Lane fuzzy addressing: After the automatic addressing is completed, the difference between the set number of lanes and the number of addressed lanes is set as the fuzzy addressing lanes. The addresses of these lanes are fixed positions on the right, that is: when shipping, the pickup hopper stops at the X-direction coordinate of the fixed position on the right.

[0059] Shipping addressing: When the selected lane is shipping, the pickup hopper first runs a certain distance along the X direction, temporarily stops in the Y direction, and then follows a fixed algorithm to select the nearest running trajectory to reach the coordinates corresponding to the selected lane. When the shipping is completed or times out and fails, the pickup hopper first runs to a fixed position according to a fixed algorithm. At this time, it stops at the position of the Y-axis origin sensor in the Y direction and then runs to the position of the X-axis origin sensor in the X direction and stops.

[0060] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A picking mechanism for a vending machine, comprising a vending machine body (11) and a motor (7), characterized in that: Inside the vending machine body (11), there is a goods channel assembly (1). The goods channel assembly (1) includes a goods tray (101). On the upper surface of the goods tray (101), partition plates (102) are symmetrically arranged. On the upper surface of the goods tray (101), a spring (103) is arranged. At the end of the output shaft of the motor (7), a rotating shaft (8) is fixedly connected. At one end of the rotating shaft (8), a fixed block (9) is fixedly connected. On one side of the fixed block (9), a fixing assembly (6) is fixedly connected. The fixing assembly (6) includes a bottom plate (601). One side of the fixed block (9) is fixedly connected to one side of the bottom plate (601). On the upper surface of the bottom plate (601), support blocks (602) are symmetrically arranged. Between the two groups of support blocks (602), a pressing plate (607) is slidably connected. One end of the spring (103) is located between the support block (602) and the pressing plate (607). On both sides of the pressing plate (607), lead screws (605) are symmetrically and fixedly connected. One end of each of the two groups of lead screws (605) penetrates through one side of the support block (602) and is threadedly connected with a locking nut (606). On both sides of the pressing plate (607), sliders (603) are symmetrically and fixedly connected. On one side of the two groups of support blocks (602), sliding grooves (604) are symmetrically formed. The sliders (603) are in clearance fit with the sliding grooves (604); on one side of the goods tray (101), limit grooves (3) are symmetrically formed. On the other side of the goods tray (101), limit blocks (2) are symmetrically and fixedly connected. The limit blocks (2) are in clearance fit with the limit grooves (3); at the bottom of the goods tray (101), first legs (4) and second legs (5) are symmetrically arranged respectively. The lengths of the two groups of second legs (5) are both greater than the lengths of the two groups of first legs (4); on one side of the two groups of support blocks (602) at the position where the lead screws (605) penetrate, through grooves (10) are formed.

2. A method for discharging goods of a vending machine including the goods taking mechanism described in claim 1, characterized in that: This method for discharging goods includes a method for discharging goods from a spring goods channel, which realizes rapid adjustment of the goods channel, automatic retraction during replenishment, and fuzzy addressing.

3. The delivery method of a vending machine according to claim 2, characterized in that: Including discharging control: When the discharging control board receives a discharging signal, it drives the DC motor of the corresponding discharging goods channel. The DC motor rotates forward to push the goods until the discharging sensor of the goods taking hopper detects the goods, and then the motor stops rotating, and the discharging is completed.

4. The method for dispensing goods of a vending machine according to claim 3, characterized in that: Including empty goods control: When the number of discharged goods = the number of in-stock goods, the system considers that the goods channel is sold out.

5. The shipping method of a vending machine according to claim 4, characterized in that: Including replenishment control: When the device enters the replenishment mode, the selected goods channel motor will rotate in reverse. The spring goods channel controls the reverse rotation time through the buttons on the remote control. It rotates in reverse when held down and stops when released.

6. The delivery method of a vending machine according to claim 5, characterized in that: Including goods taking control: Including XY-axis goods taking mechanism control: When the control board receives a discharging signal, it controls the stepping motor of the goods taking mechanism to run to the specified coordinates. Whether the goods taking is successful or not, the goods taking mechanism runs to the goods taking port. If the origin position and the goods taking port are not in the same position, then it returns from the goods taking port to the origin position to complete one operation cycle of the goods taking mechanism; Including the control of the pick-up hopper door opening and closing: When the pick-up is successful and the pick-up hopper reaches the pick-up port with the XY-axis pick-up mechanism, the bottom door motor of the pick-up hopper is powered forward until the signal of the bottom door open position sensor of the pick-up hopper is detected and then stops. When the upper limit position sensor of the pick-up port lift door detects the signal, the bottom door motor of the pick-up hopper is powered backward until the signal of the bottom door closed position sensor of the pick-up hopper is detected and then stops; Including the control of the pick-up port lift door: After the bottom door of the pick-up hopper is opened, the push rod motor of the pick-up port lift door is powered forward until the signal of the lower limit position sensor of the pick-up hopper is detected and then stops. When the pick-up port protection grating detects the signal and there is no signal feedback after 3 seconds, or when the pick-up port protection grating has not detected the signal for 20 seconds, the push rod motor of the pick-up port lift door is powered backward until the signal of the upper limit position sensor of the pick-up hopper is detected and then stops; Including during the rising of the pick-up port lift door, if the protection grating has a signal detected, or the anti-pinch mechanism sensor has a signal detected, then the push rod motor of the pick-up port lift door is powered forward until the signal of the lower limit position sensor of the pick-up hopper is detected and then stops. When the pick-up port protection grating detects the signal and there is no signal feedback after 3 seconds, the push rod motor of the pick-up port lift door is powered backward until the signal of the upper limit position sensor of the pick-up hopper is detected and then stops.

7. The shipping method of a vending machine according to claim 6, characterized in that: Including pick-up control: Addressing control: The first step: Lane positioning and addressing: Before the product starts to be used or after the lanes are adjusted, automatic addressing needs to be performed to determine the position coordinates of the lanes. Automatic addressing can select full addressing or single-layer lane addressing. The automatic addressing range includes the Y-direction coordinates of the spring lanes and the X and Y-direction coordinates of the push plate lanes; During full addressing: The pick-up hopper runs upward from the lower left corner of the device, scans and records the Y-direction coordinates of each layer of trays layer by layer, including the spring lanes. When the upper limit position is scanned, the Y-direction coordinate recording is completed, and then it returns to the left limit of the bottom layer lane and starts scanning to the right. When a lane is scanned, the current lane coordinates are recorded until the right limit position is scanned, and the addressing of the first layer lane is completed. Then, the addressing of the second layer lane starts, and so on until the search is completed; During single-layer addressing: The pick-up hopper starts scanning to the right from the set left limit position of the tray. When a lane is scanned, the current lane coordinates are recorded until the right limit position is scanned, and the addressing of this layer lane is completed; The second step: Lane fuzzy addressing: After the automatic addressing is completed, the difference between the set number of lanes and the number of addressed lanes is set as the fuzzy addressing lanes. The address of the lanes is a fixed position on the right, that is: when shipping, the pick-up hopper stops at the X-direction coordinate of the fixed position on the right; The third step: Shipping addressing: When the selected lane ships goods, the pick-up hopper first runs a certain distance along the X direction, temporarily stops in the Y direction, and then selects the nearest running track to reach the coordinates corresponding to the selected lane according to a fixed algorithm. When the shipping is completed or fails due to timeout, the pick-up hopper first runs to a fixed position according to a fixed algorithm. At this time, it stops at the position of the Y-axis origin sensor in the Y direction and then stops at the position of the X-axis origin sensor along the X direction.

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