Dispensing machine observation door opening and closing device and dispensing machine

Abstract

The invention discloses a dispensing machine observation door opening and closing device and a dispensing machine. The opening and closing device for the observation door of the dispensing machine comprises a driving mechanism which is arranged on the side edge of a dispensing machine body, is in transmission connection with an observation door body and drives the observation door body to be opened and closed in an overturning manner; the limiting mechanism is mounted on the connecting mechanism between the speed reducer and the observation door body and is used for detecting the overturning position of the observation door body and transmitting a detected position signal to the control unit; and the control unit is connected with the driving mechanism and the limiting mechanism, receives the position signal transmitted by the limiting mechanism, and controls starting, stopping, rotating speed and rotating direction of the driving mechanism according to the position signal, so that accurate overturning control of the observation door body is realized. Through the design of the driving mechanism and the limiting mechanism, accurate overturning control and reliable anti-falling protection of the observation door are achieved, the safety performance and the operation stability of the device are improved, the device is suitable for overturning opening and closing scenes of the observation door of a large and medium-sized dispenser, and stable, accurate and safe overturning control of the observation door is achieved.

Description

Technical Field

[0001] This invention relates to the field of safety protection technology for large equipment, and in particular to an opening and closing device for an observation door of a dispensing machine and a dispensing machine. Background Technology

[0002] In the production process of large and medium-sized dispensing machines, the observation door is an important component that ensures the safe operation of the equipment and allows operators to easily observe the internal working status.

[0003] Currently, the observation doors of large and medium-sized dispensing machines mostly use traditional pneumatic or hydraulic drives for opening and closing. However, these drive methods have many drawbacks. On the one hand, pneumatic and hydraulic drives have low control precision, making it difficult to accurately control the tilting angle and position of the observation door. This prevents operators from clearly and stably observing the dispensing operation inside the equipment, affecting production quality control. On the other hand, traditional drive methods lack effective fall protection mechanisms in the event of power outages or other emergencies. The observation door is prone to suddenly falling due to its own weight, which may not only damage equipment components but also pose a serious threat to the personal safety of nearby operators.

[0004] Therefore, there is an urgent need for a large and medium-sized observation door opening and closing device with high control precision, strong safety and reliability, and stable operation to meet the usage requirements of large and medium-sized dispensing machine observation door flip opening and closing. Summary of the Invention

[0005] The present invention aims to provide a dispensing machine observation door opening and closing device and a dispensing machine to solve the problems of low control accuracy, easy fall during power outages, and poor operation stability of existing large and medium-sized dispensing machine observation door opening and closing devices.

[0006] To solve the above-mentioned technical problems, the first aspect of the present invention provides an opening and closing device for an observation door of a dispensing machine, applied to a dispensing machine, the dispensing machine including a dispensing machine body, and the opening and closing device for the observation door of the dispensing machine including: A drive mechanism is located on the side of the dispensing machine body and is connected to the observation door body for driving the observation door body to flip open and close. A limiting mechanism is installed on the connection mechanism between the drive mechanism and the observation door body. It is used to detect the flip position of the observation door body and transmit the detected position signal to the control unit. The control unit is connected to the drive mechanism and the limiting mechanism respectively, and is used to receive the position signal transmitted by the limiting mechanism, and control the start, stop, speed and direction of the drive mechanism according to the position signal, so as to realize the precise flipping control of the observation door body.

[0007] Optionally, the driving mechanism includes two servo motors and two reducers. The two servo motors are symmetrically fixed on the left and right sides of the dispensing machine body, respectively. The output end of the reducer is connected to both sides of the observation door body through the connecting mechanism to drive the observation door body to flip open and close.

[0008] Optionally, the two servo motors are symmetrically fixed to the inner walls of the left and right sides of the dispensing machine body by bolts.

[0009] Optionally, the connecting mechanism includes a connecting flange and a rotating shaft. One end of the connecting flange is fixedly connected to the output end of the reducer, and the other end is welded to the rotating shaft. The rotating shaft is mounted on the dispensing machine body through a bearing seat. The end of the rotating shaft away from the connecting flange is bolted to the side of the observation door body, thereby realizing the transmission connection between the reducer and the observation door body.

[0010] Optionally, the limiting mechanism includes an upper limit sensor and a lower limit sensor, which are respectively installed on the connecting mechanism between the reducer and the observation door body to detect the flip position of the observation door body. The upper limit sensor and the lower limit sensor correspond to the fully open position and the fully closed position of the observation door body, respectively.

[0011] Optionally, the upper limit sensor is mounted on the rotating shaft of the connecting mechanism, and a sensing plate is provided corresponding to the fully open position of the observation door body. When the rotating shaft drives the observation door body to rotate to the fully open position, the sensing plate blocks the light of the upper limit sensor, and the upper limit sensor sends a position signal to the control unit.

[0012] Optionally, the lower limit sensor is mounted on the rotating shaft of the connecting mechanism, and sensing plates are respectively provided corresponding to the fully closed position of the observation door body. When the rotating shaft drives the observation door body to rotate to the fully closed position, the sensing plates block the light of the lower limit sensor, and the lower limit sensor sends a position signal to the control unit.

[0013] Optionally, the input terminal of the control unit is connected to the upper limit sensor and the lower limit sensor respectively via signal lines, and the output terminal is connected to the two servo motors respectively via servo drivers.

[0014] Optionally, the control unit has a built-in power failure protection module, which controls the servo motor to be in a braking state during a power failure to prevent the observation door body from falling.

[0015] Accordingly, a second aspect of the present invention provides a dispensing machine, including the dispensing machine observation door opening and closing device provided in the first aspect of the present invention.

[0016] Compared to existing technologies, this invention provides a dispensing machine observation door opening and closing device and a dispensing machine. The observation door opening and closing device is located on the side of the dispensing machine body via a drive mechanism, which is connected to the observation door body for transmission, driving the observation door body to flip open and close. A limit mechanism is installed on the connection mechanism between the reducer and the observation door body, detecting the flip position of the observation door body and transmitting the detected position signal to the control unit. The control unit is connected to both the drive mechanism and the limit mechanism, receiving the position signal transmitted by the limit mechanism, and controlling the start, stop, speed, and direction of the drive mechanism according to the position signal, achieving precise flip control of the observation door body. Thus, through the design of the drive mechanism and limit mechanism, precise flip control of the observation door and reliable fall protection are achieved, improving the safety performance and operational stability of the device. It is particularly suitable for the flip opening and closing scenarios of observation doors in medium and large-sized dispensing machines, achieving stable, precise, and safe flip control of the observation door. It can solve the problems of low control accuracy, easy fall during power outages, and poor operational stability of existing medium and large-sized dispensing machine observation door opening and closing devices. Attached Figure Description

[0017] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0018] Figure 1 This is a schematic diagram of the structure of a dispensing machine including an observation door opening and closing device provided by the present invention; Figure 2 This is a partially enlarged structural diagram of a dispensing machine including an observation door opening and closing device, provided by the present invention. Figure 3 This is a schematic diagram of the left-hand structure of a dispensing machine along CC, which includes an opening and closing device for the observation door of the dispensing machine, provided by the present invention. Figure 4 This is a partially enlarged left-side view of a dispensing machine including an observation door opening and closing device, provided by the present invention.

[0019] The attached figures are labeled as follows: Dispensing machine 100, dispensing machine body 110, observation door body 11, drive mechanism 12, limit mechanism 13, control unit 14, connecting mechanism 15, servo motor 121, reducer 122, upper limit sensor 131, lower limit sensor 132, limit block 151, rotating block 152. Detailed Implementation

[0020] To facilitate understanding of the present invention, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "upper," "lower," "inner," "outer," "bottom," etc., used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0022] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0023] Please refer to Figures 1 to 4 In one embodiment, the present invention provides an observation door opening and closing device for a dispensing machine, which is applied to a dispensing machine 100. The dispensing machine 100 includes a dispensing machine body 110, and the dispensing machine observation door opening and closing device includes: an observation door body 11, a drive mechanism 12, a limit mechanism 13, a control unit 14, and a connecting mechanism 15. The drive mechanism 12 is located on the side of the dispensing machine body 110 and is connected to the observation door body 11 for driving the observation door body 11 to flip open and close. The limiting mechanism 13 is installed on the connecting mechanism 15 between the drive mechanism 12 and the observation door body 11. It is used to detect the flip position of the observation door body 11 and transmit the detected position signal to the control unit 14. The control unit 14 is connected to the drive mechanism 12 and the limit mechanism 13 respectively. It is used to receive the position signal transmitted by the limit mechanism 13 and control the start, stop, speed and direction of the drive mechanism 12 according to the position signal to realize the precise flipping control of the observation door body 11.

[0024] In this embodiment, a dispensing machine observation door opening and closing device is provided. A drive mechanism is installed on the side of the dispensing machine body and is connected to the observation door body for transmission, driving the observation door body to flip and open / close. A limit mechanism is installed on the connection mechanism between the reducer and the observation door body, detecting the flip position of the observation door body and transmitting the detected position signal to the control unit. The control unit is connected to both the drive mechanism and the limit mechanism, receiving the position signal transmitted by the limit mechanism, and controlling the start / stop, speed, and direction of the drive mechanism according to the position signal, achieving precise flip control of the observation door body. Thus, through the design of the drive mechanism and limit mechanism, precise flip control and reliable fall protection of the observation door are achieved, improving the safety performance and operational stability of the device. It is particularly suitable for the flip opening and closing scenarios of observation doors in large and medium-sized dispensing machines, achieving stable, precise, and safe flip control of the observation door. This solves the problems of low control accuracy, easy fall during power outages, and poor operational stability of existing medium and large-sized dispensing machine observation door opening and closing devices.

[0025] In one embodiment, the drive mechanism 12 is disposed on the side of the dispensing machine body 110 and is connected to the observation door body 11 for driving the observation door body 11 to flip open and close.

[0026] In the existing technology, some observation door opening and closing devices that use a single motor drive are prone to problems such as jamming and accelerated wear after long-term use due to uneven distribution of driving torque, which reduces the service life and operational stability of the device.

[0027] In this invention, please refer to Figure 2 The drive mechanism 12 includes two servo motors 121 and two reducers 122. The two servo motors 121 are symmetrically fixed on the left and right sides of the dispensing machine body 110. Specifically, the two servo motors 121 are symmetrically fixed on the inner walls of the left and right sides of the dispensing machine body 110 (7) by bolts. The output shaft of each servo motor 121 is connected to the input end of a reducer 122 through a coupling. For example, the servo motor 121 can be a Panasonic MSMD082G1U servo motor, which has the characteristics of high control accuracy and fast response speed.

[0028] The output end of the reducer 122 is connected to both sides of the observation door body 11 via the connecting mechanism 15, and is used to drive the observation door body 11 to rotate and open. For example, the reducer 122 is a planetary gear reducer, model PLF090, which can reduce the speed of the servo motor 121 and amplify the output torque to ensure sufficient driving force to drive the observation door body 11 to rotate.

[0029] Please refer to Figure 2 , Figure 3 and Figure 4The connecting mechanism 15 includes a connecting flange (not shown) and a rotating shaft (not shown). One end of the connecting flange is fixedly connected to the output end of the reducer 122, and the other end is welded to the rotating shaft. The rotating shaft is mounted on the dispensing machine body 110 through a bearing seat. The end of the rotating shaft away from the connecting flange is bolted to the side of the observation door body 11 to realize the transmission connection between the reducer 122 and the observation door body 11.

[0030] The connecting mechanism 15 also includes a limit block 151 and a rotating block 152. The limit block 151 controls the final position of the opening and closing of the observation door. Even if the servo fails or the observation door is too heavy, it can prevent danger from occurring and ensure safety performance.

[0031] In this embodiment, the drive mechanism serves as the core of power output. By combining dual servo motors and a reducer arranged symmetrically on the left and right, a balanced driving torque transmission path is formed. The high-precision speed control of the servo motors and the torque amplification function of the reducer work together to provide a stable and controllable power source for the rotation of the observation door body. The dual servo motor drive can solve the problems of uneven torque and insufficient precision of traditional single drive or pneumatic / hydraulic drive, which reduce the service life and operational stability of the device.

[0032] In one embodiment, the limiting mechanism 13 is installed on the connecting mechanism 15 between the drive mechanism 12 and the observation door body 11, and is used to detect the flip position of the observation door body 11 and transmit the detected position signal to the control unit 14.

[0033] For details, please refer to Figure 2 The limiting mechanism 13 includes an upper limit sensor 131 and a lower limit sensor 132. The upper limit sensor 131 and the lower limit sensor 132 are respectively installed on the connecting mechanism 15 between the reducer 122 and the observation door body 11, and are used to detect the flip position of the observation door body 11. The upper limit sensor 131 and the lower limit sensor 132 correspond to the fully open position and the fully closed position of the observation door body 11, respectively.

[0034] Furthermore, the upper limit sensor 131 and the lower limit sensor 132 are respectively mounted on the rotating shaft of the connecting mechanism 15. Sensing plates are respectively provided at the positions where the observation door body 11 is fully open and fully closed. When the rotating shaft drives the observation door body 11 to rotate to the corresponding position, the sensing plate blocks the light of the upper limit sensor 131 or the lower limit sensor 132, and the upper limit sensor 131 or the lower limit sensor 132 sends a position signal to the control unit 14.

[0035] Specifically, when the rotating shaft drives the observation door body 11 to flip to the fully open position, the sensor plate in the fully open position blocks the light of the upper limit sensor 131, and the upper limit sensor 131 sends a position signal of the observation door body 11 flipping to the fully open position to the control unit 14.

[0036] When the rotating shaft drives the observation door body 11 to flip to the fully closed position, the sensor plate in the fully closed position blocks the light of the lower limit sensor 132, and the lower limit sensor 132 sends a position signal to the control unit 14 that the observation door body 11 has flipped to the fully closed position.

[0037] For example, the upper limit sensor 131 and the lower limit sensor 132 can be selected as diffuse reflection photoelectric sensors, model E3Z-LS63.

[0038] In this embodiment, the limiting mechanism serves as the core of position detection. The upper and lower limit sensors are directly associated with the critical extreme positions of the observation door body's rotation. By collecting the rotation position signals of the connecting mechanism in real time, it provides accurate position feedback to the control unit 14, which is a key guarantee for the accurate start and stop of the observation door body.

[0039] In one embodiment, the control unit 14 is connected to the drive mechanism 12 and the limiting mechanism 13 respectively, and is used to receive the position signal transmitted by the limiting mechanism 13, and control the start, stop, speed and direction of the drive mechanism 12 according to the position signal, so as to realize the precise flipping control of the observation door body 11.

[0040] Specifically, the control unit 14 is mounted on the dispensing machine body 110, and includes an operation panel mounted on the surface of the dispensing machine body 110. The control unit 14 is electrically connected to two servo motors 121, an upper limit sensor 131, and a lower limit sensor 132. The control unit 14 receives position signals detected by the upper limit sensor 131 and the lower limit sensor 132, and controls the start, stop, speed, and direction of the two servo motors 121 according to the position signals, thereby achieving precise flipping control of the observation door body 11.

[0041] Furthermore, the input terminals of the control unit 14 are connected to the upper limit sensor 131 and the lower limit sensor 132 via signal lines, and the output terminals are connected to the two servo motors 121 via servo drivers.

[0042] The control unit 14 has a built-in power failure protection module (not shown). In the event of a power failure, it controls the servo motor 121 to be in a braking state to prevent the observation door body 11 from falling.

[0043] For example, control unit 14 can be a PLC controller, model Siemens S7-200 SMART.

[0044] In this embodiment, the control unit 14 serves as the core of the system control, integrating signal reception, logic judgment, and execution control functions. On the one hand, it receives the position signal of the limit mechanism and adjusts the operating parameters of the drive mechanism. On the other hand, through the built-in power failure protection module, it quickly triggers the servo motor braking in the event of a sudden power failure. The three mechanisms form a closed-loop system of "power output - position detection - intelligent control" to jointly achieve the safe, accurate, and stable rotation of the observation door.

[0045] This invention provides an opening and closing device for an observation door of a dispensing machine. The drive mechanism 12 serves as the core of the power output, combining symmetrically arranged dual servo motors 121 and a reducer 122 to form a balanced driving torque transmission path. The high-precision speed control of the servo motors 121 and the torque amplification function of the reducer 122 work together to provide a stable and controllable power source for the rotation of the observation door body 11, solving the problems of uneven torque and insufficient precision in traditional single-drive or pneumatic / hydraulic drives. The limiting mechanism 13 serves as the core of the position detection, with upper limit sensor 131 and lower limit sensor 132 directly associated with the key poles for the rotation of the observation door body 11. The limit switch 13, by acquiring the rotational position signal of the connecting mechanism 15 in real time, provides precise position feedback to the control unit 14, which is crucial for the precise start and stop of the observation door body 11. The control unit 14, as the core of the system control, integrates signal reception, logic judgment, and execution control functions. On one hand, it receives the position signal from the limit switch 13 and adjusts the operating parameters of the drive mechanism 12; on the other hand, through a built-in power failure protection module, it quickly triggers the servo motor 121 to brake in the event of a sudden power outage. These three mechanisms form a closed-loop system of "power output - position detection - intelligent control," jointly achieving the safe, precise, and stable rotation of the observation door. Its working process is as follows: During normal operation, the operator sends a flip command through the operation panel of the control unit 14. The control unit 14 controls two servo motors 121 to start synchronously according to the command. The servo motors 121 drive the observation door body 11 to flip through the reducer 122 and the connecting mechanism 15. When the upper limit sensor 131 or the lower limit sensor 132 detects that the observation door body 11 has reached the fully open or closed position, it feeds back the position signal to the control unit 14, and the control unit 14 immediately controls the servo motors 121 to stop running.

[0046] In the event of a power outage, the power outage protection module built into the control unit 14 is powered by a supercapacitor and quickly sends a braking signal to the servo driver. The brake devices of the two servo motors 121 immediately activate, locking the output shafts of the servo motors 121 respectively. This, through the connecting mechanism 15, fixes the observation door body 11 in its current position, preventing it from falling.

[0047] This invention provides an opening and closing device for an observation door of a dispensing machine. In actual use, it operates stably and has high control precision. The flipping angle error of the observation door body 11 can be controlled within ±0.5°. Moreover, it can effectively prevent the observation door body 11 from falling during multiple power outage tests, and its safety performance is reliable.

[0048] Based on the same concept, in one embodiment, such as Figure 1 As shown, the present invention also provides a dispensing machine, including the dispensing machine observation door opening and closing device described in any of the above embodiments.

[0049] In this embodiment, the dispensing machine observation door opening and closing device is the same as that described in any of the above embodiments. The specific structure and function can be referred to the dispensing machine observation door opening and closing device described in any of the above embodiments, and will not be repeated here.

[0050] In this embodiment, a dispensing machine is provided, including a dispensing machine observation door opening and closing device. This device is mounted on the side of the dispensing machine body via a drive mechanism and is connected to the observation door body for transmission, driving the observation door body to flip and open. A limiting mechanism is installed on the connection mechanism between the reducer and the observation door body, detecting the flip position of the observation door body and transmitting the detected position signal to the control unit. The control unit is connected to both the drive mechanism and the limiting mechanism, receiving the position signal transmitted by the limiting mechanism, and controlling the start / stop, speed, and direction of the drive mechanism according to the position signal, thus achieving precise flip control of the observation door body. Therefore, through the design of the drive mechanism and the limiting mechanism, precise flip control of the observation door and reliable anti-fall protection are achieved, improving the safety performance and operational stability of the device. It is particularly suitable for the flip opening and closing scenarios of observation doors in large and medium-sized dispensing machines, achieving stable, precise, and safe flip control of the observation door. This solves the problems of low control accuracy, easy fall during power outages, and poor operational stability of existing dispensing machine observation door opening and closing devices.

[0051] It should be noted that the above-described dispensing machine embodiment and the above-described dispensing machine observation door opening and closing device embodiment belong to the same concept. For details of their implementation process, please refer to the dispensing machine observation door opening and closing device embodiment. Furthermore, the technical features in the dispensing machine observation door opening and closing device embodiment are all applicable to the above-described dispensing machine embodiment, and will not be repeated here.

[0052] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0053] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Under the concept of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above. For the sake of brevity, they are not provided in detail. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A device for opening and closing an observation door of a dispensing machine, characterized in that, Applied to a dispensing machine, the dispensing machine includes a dispensing machine body, and the dispensing machine observation door opening and closing device includes: A drive mechanism is located on the side of the dispensing machine body and is connected to the observation door body for driving the observation door body to flip open and close. A limiting mechanism is installed on the connection mechanism between the drive mechanism and the observation door body. It is used to detect the flip position of the observation door body and transmit the detected position signal to the control unit. The control unit is connected to the drive mechanism and the limiting mechanism respectively, and is used to receive the position signal transmitted by the limiting mechanism, and control the start, stop, speed and direction of the drive mechanism according to the position signal, so as to realize the precise flipping control of the observation door body.

2. The dispensing machine observation door opening and closing device according to claim 1, characterized in that, The drive mechanism includes two servo motors and two reducers. The two servo motors are symmetrically fixed on the left and right sides of the dispensing machine body. The output end of the reducer is connected to the two sides of the observation door body through the connecting mechanism, and is used to drive the observation door body to flip open and close.

3. The dispensing machine observation door opening and closing device according to claim 2, characterized in that, The two servo motors are respectively fixed symmetrically to the inner walls of the left and right sides of the dispensing machine body by bolts.

4. The dispensing machine observation door opening and closing device according to claim 2, characterized in that, The connecting mechanism includes a connecting flange and a rotating shaft. One end of the connecting flange is fixedly connected to the output end of the reducer, and the other end is welded to the rotating shaft. The rotating shaft is mounted on the dispensing machine body through a bearing seat. The end of the rotating shaft away from the connecting flange is bolted to the side of the observation door body to realize the transmission connection between the reducer and the observation door body.

5. The dispensing machine observation door opening and closing device according to claim 4, characterized in that, The limiting mechanism includes an upper limit sensor and a lower limit sensor, which are respectively installed on the connecting mechanism between the reducer and the observation door body to detect the flip position of the observation door body. The upper limit sensor and the lower limit sensor correspond to the fully open position and the fully closed position of the observation door body, respectively.

6. The dispensing machine observation door opening and closing device according to claim 5, characterized in that, The upper limit sensor is mounted on the rotating shaft of the connecting mechanism. A sensing plate is provided corresponding to the fully open position of the observation door body. When the rotating shaft drives the observation door body to rotate to the fully open position, the sensing plate blocks the light of the upper limit sensor, and the upper limit sensor sends a position signal to the control unit.

7. The dispensing machine observation door opening and closing device according to claim 5, characterized in that, The lower limit sensor is mounted on the rotating shaft of the connecting mechanism. Sensing plates are respectively provided for the observation door body at the fully closed position. When the rotating shaft drives the observation door body to rotate to the fully closed position, the sensing plates block the light of the lower limit sensor, and the lower limit sensor sends a position signal to the control unit.

8. The dispensing machine observation door opening and closing device according to claim 5, characterized in that, The input terminal of the control unit is connected to the upper limit sensor and the lower limit sensor respectively via signal lines, and the output terminal is connected to the two servo motors respectively via servo drivers.

9. The dispensing machine observation door opening and closing device according to claim 2, characterized in that, The control unit has a built-in power failure protection module. In the event of a power failure, it controls the servo motor to be in a braking state to prevent the observation door body from falling.

10. A dispensing machine, characterized in that, The dispensing machine observation door opening and closing device includes any one of claims 1 to 9.

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