Means for gripping and transporting products for an automatic vending machine

摘要

Products stored in racks (2) are moved by a robot (3) able to travel along three orthogonal axes. A capturing plate (5) is attached to the movable part (6) of the robot (3) and has an electronic assembly (7) at it's end which is able to recognize the form and position of a product. The assembly includes pairs of photoelectric transmitters/receivers to locate plate to racks and plate to product and an electroluminescent diode for calibration