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JPH06101059B2 - Product heating device for canned product vending machines - Google Patents
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JPH06101059B2 - Product heating device for canned product vending machines - Google Patents

Product heating device for canned product vending machines

Info

Publication number
JPH06101059B2
JPH06101059B2 JP25323888A JP25323888A JPH06101059B2 JP H06101059 B2 JPH06101059 B2 JP H06101059B2 JP 25323888 A JP25323888 A JP 25323888A JP 25323888 A JP25323888 A JP 25323888A JP H06101059 B2 JPH06101059 B2 JP H06101059B2
Authority
JP
Japan
Prior art keywords
product
induction heating
heating device
heating coil
canned
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP25323888A
Other languages
Japanese (ja)
Other versions
JPH02100791A (en
Inventor
昌三 岩本
幸雄 木村
幸三 松島
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuji Electric Co Ltd
Original Assignee
Fuji Electric Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fuji Electric Co Ltd filed Critical Fuji Electric Co Ltd
Priority to JP25323888A priority Critical patent/JPH06101059B2/en
Publication of JPH02100791A publication Critical patent/JPH02100791A/en
Publication of JPH06101059B2 publication Critical patent/JPH06101059B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

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  • Control Of Vending Devices And Auxiliary Devices For Vending Devices (AREA)
  • Vending Machines For Individual Products (AREA)

Description

【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、コーヒなどの缶入り商品の自動販売機を対象
に、機内で常温ないし予熱状態に貯蔵されている缶商品
を、商品収納部から商品取出口へ搬出される搬出経路の
途上で販売温度に適した温度まで加熱して販売するよう
にした缶商品自動販売機の商品加熱装置に関する。
DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is intended for an automatic vending machine for canned products such as coffee, and stores can products stored at room temperature or in a preheated state in the product storage section. The present invention relates to a product heating device of a can product vending machine, which is heated to a temperature suitable for a selling temperature and sold on the way of a carry-out route from a product to a product outlet.

〔従来の技術〕[Conventional technology]

頭記の商品加熱装置として、商品取出口の内側に高周波
誘導加熱装置を備え、販売時に商品収納部から搬出され
た缶商品を前記誘導加熱装置に導いて加熱しするように
したものが、例えば特開昭54−699として公知である。
As the above-mentioned product heating device, a high-frequency induction heating device is provided inside the product outlet, and a can product carried out from the product storage unit at the time of sale is guided to the induction heating device to be heated, for example, It is known as JP-A-54-699.

一方、通常の缶商品自動販売機では、商品収納部から搬
出された缶商品がシュータ上を転動して商品取出口へ取
り出されることを配慮し、機内における缶商品のマテリ
アルハンドリング性、および加熱効率を改善することを
狙いに、誘導加熱コイルの鞍形コイルと成し、缶商品を
倒置姿勢のまま受容保持して加熱するようにした商品加
熱装置が特願昭63−170149として同じ出願人より提案さ
れている。
On the other hand, in an ordinary can product vending machine, in consideration of the fact that the can product carried out from the product storage section rolls on the shooter and is taken out to the product outlet, the material handling property of the can product in the machine and heating For the purpose of improving efficiency, a product heating device that is a saddle-shaped coil of an induction heating coil and receives and holds can products in an inverted posture and heats them is the same applicant as Japanese Patent Application No. 63-170149. More suggested.

ここで、上記提案の商品加熱装置を装備した缶商品自動
販売機の構成を第5図に示す。図において、1は自動販
売機のキャビネット、2はその前面扉、3は扉に設けた
商品取出口、4は庫内の商品収納部、5は搬出シュー
タ、6が商品取出口3の内側の扉内に装備した誘導加熱
式の商品加熱装置である。この商品加熱装置6は上面を
開放した鞍形状コイルとしての誘導加熱コイル7と高周
波電源8から成る。
Here, FIG. 5 shows the configuration of a can product vending machine equipped with the above-mentioned proposed product heating device. In the figure, 1 is a cabinet of an automatic vending machine, 2 is a front door thereof, 3 is a product outlet provided in the door, 4 is a product storage section in the warehouse, 5 is a carry-out shooter, and 6 is an inside of the product outlet 3. It is an induction heating type product heating device installed in the door. The commodity heating device 6 includes an induction heating coil 7 as a saddle-shaped coil having an open upper surface and a high frequency power source 8.

かかる構成で、缶商品9は商品収納部4への収納状態で
40℃程度に予熱して貯蔵されている。一方、販売動作に
より缶商品9が商品収納部4より搬出されると、缶商品
9は倒置姿勢のままシュータ5の上を商品取出口3に向
けて転動し、シュータ5の前縁から落下して前記した誘
導加熱コイル7の上に受容保持される。同時に誘導加熱
コイル7は高周波電源8から所定時間(10秒程度)だけ
給電を受けて缶商品9を誘導加熱し、缶商品9を販売温
度に適した60℃程度まで昇温させる。なお、所定の誘導
加熱時間が経過すると、コイル7への通電が停止し、こ
の状態で客は商品取出口3の扉3aを開いて商品を自由に
取り出すことができるようになる。
With this configuration, the can product 9 can be stored in the product storage unit 4
Preheated to about 40 ℃ and stored. On the other hand, when the can product 9 is carried out from the product storage unit 4 by the selling operation, the can product 9 rolls over the shooter 5 in the inverted position toward the product outlet 3, and falls from the front edge of the shooter 5. Then, it is received and held on the induction heating coil 7 described above. At the same time, the induction heating coil 7 receives electric power from the high frequency power source 8 for a predetermined time (about 10 seconds) to inductively heat the can product 9 and raise the temperature of the can product 9 to about 60 ° C. suitable for the selling temperature. When the predetermined induction heating time has elapsed, the coil 7 is de-energized, and in this state, the customer can open the door 3a of the product outlet 3 to freely take out the product.

一方、前記の鞍形誘導加熱コイルを装備した商品加熱装
置について、缶商品を誘導加熱コイルに装荷した状態で
缶商品を自転させる回転手段を備え、誘導加熱コイルと
対面する缶商品の加熱面域を缶の周面に沿って逐次移動
して全周面から誘導加熱するようにしたものが、同じ出
願人より特開昭63−170150として提案されている。
On the other hand, in the product heating device equipped with the saddle-shaped induction heating coil, the heating surface area of the can product facing the induction heating coil is provided with a rotating means for rotating the can product while the can product is loaded in the induction heating coil. The same applicant has proposed a Japanese Patent Laid-Open Publication No. 63-170150 in which induction heating is carried out from the entire circumferential surface by sequentially moving it along the circumferential surface of the can.

さらに、缶商品を誘導加熱コイルに装荷した状態で、缶
商品を左右方向に揺する撹拌手段を備え、誘導加熱の際
に缶商品の中身飲料を撹拌して伝熱効果を高めるように
したものが、同じ出願人より特願昭63−170148として提
案されている。
In addition, there is a stirring device that shakes the canned product in the left-right direction while the canned product is loaded in the induction heating coil to stir the beverage in the canned product during induction heating to enhance the heat transfer effect. It has been proposed by the same applicant as Japanese Patent Application No. 63-170148.

〔発明が解決しようとする課題〕[Problems to be Solved by the Invention]

ところで、誘導加熱方式の商品化熱装置に対し、前記提
案になる缶商品の回転手段,あるいは撹拌手段のいずれ
かを装備することでそれなりの成果が得られるが、さら
に高い加熱効果を得るには、誘導加熱の際に缶商品に対
し回転と中身飲料の撹拌を同時に行うことが望ましい。
By the way, the induction heating type commercialization heat device is equipped with either the rotating means or the stirring means for the can product proposed above, but some results can be obtained, but in order to obtain a higher heating effect, During induction heating, it is desirable to simultaneously rotate the canned product and stir the content drink.

しかして前記提案に開示されている回転手段と撹拌手段
をそのまま商品加熱装置に組み込むとすると、缶商品を
ローラ上に担持して自転させる回転手段と、缶商品の両
端を挟持して往復動させるようにした撹拌手段とが互い
に干渉し合い、このままでは同時に回転操作と撹拌操作
を行うことができない。すなわち、撹拌手段で缶商品を
挟持して拘束した状態では、ローラを回転操作しても缶
商品が自転しない。
However, if the rotating means and the agitating means disclosed in the above-mentioned proposal are incorporated into the product heating device as they are, the rotating means for supporting the can product on the roller and rotating it, and the reciprocating motion by sandwiching both ends of the can product. Such stirring means interfere with each other, and if they are left as they are, the rotating operation and the stirring operation cannot be performed at the same time. That is, in the state in which the can product is sandwiched and restrained by the stirring means, the can product does not rotate even if the roller is rotated.

本発明は上記の点にかんがみ成されたものであり、鞍形
誘導加熱コイルの上に缶商品を倒置姿勢に装荷して加熱
する商品加熱装置を対象に、誘導加熱工程で缶商品を同
時に回転,撹拌操作できるようにした商品加熱装置を提
供することを目的とする。
The present invention has been made in view of the above points, and is intended for a product heating device that loads and heats a can product on a saddle-shaped induction heating coil in an inverted posture, and simultaneously rotates the can product in an induction heating process. , It is an object of the present invention to provide a product heating device capable of stirring operation.

〔課題を解決するための手段〕[Means for Solving the Problems]

上記課題を解決するために、本発明の商品加熱収納部か
ら商品取出口へ搬出される缶商品をその搬出経路の途上
で加熱する商品加熱装置であり、倒置姿勢で受容保持し
た缶商品を下面側から誘導加熱する上面開放の鞍形誘導
加熱コイルを装備したものにおいて、前記誘導加熱コイ
ルを搭載した缶商品の支持枠を兼ねる支持台と、前記誘
導加熱コイルに並置して前記支持台に搭載した回転ロー
ラ組によって缶商品を倒置姿勢に担持しつつ自転方向の
回転を与える回転手段と、前記支持台に左右方向の往復
動を与えて前記回転ローラ組で担持した缶商品を揺する
撹拌手段とを備えて構成するものとする。
In order to solve the above problems, the present invention is a product heating device that heats a can product carried out from a product heating storage unit of the present invention to a product take-out port on the way of the carrying-out route, and a can product that is received and held in an inverted posture is a bottom surface. A saddle-shaped induction heating coil with an open upper surface that is induction-heated from the side of the induction heating coil is mounted on the supporting table in parallel with the supporting table that also serves as a supporting frame for the can product that has the induction heating coil. Rotating means for rotating the can product carried by the rotating roller set while rotating the can product carried by the rotating roller set, and rotation means for imparting rotation in the rotation direction while carrying the can product in the inverted position; and stirring means for shaking the can product carried by the rotating roller set. Shall be configured.

〔作用〕[Action]

上記の構成で、缶商品を誘導加熱コイルに装荷した状態
で回転・撹拌手段を操作することにより、缶商品は誘導
加熱コイルと対面する誘導加熱域が缶の周方向に沿って
回転すると同時に、缶が左右方向に往復動して中身飲料
が撹拌され、これにより缶商品がその全周面で誘導加熱
を受けつつ、同時に缶の誘導加熱面に生じた熱が中身飲
料の強制対流により効率よく伝熱されるようになる。
With the above configuration, by operating the rotating / stirring means with the can product loaded in the induction heating coil, the can product rotates in the induction heating area facing the induction heating coil along the circumferential direction of the can, at the same time. The can moves back and forth in the left-right direction to stir the content beverage, and the heat generated on the induction heating surface of the can at the same time is efficiently generated by the convection of the content beverage while the can product is subjected to induction heating on the entire circumferential surface. The heat will be transferred.

〔実施例〕〔Example〕

第1図ないし第4図は本発明実施例の構成を示すもので
あり、第5図に対応する同一部材には同じ符号が付して
ある。
1 to 4 show the structure of an embodiment of the present invention, and the same members corresponding to FIG. 5 are designated by the same reference numerals.

まず、第1図において、風胴を兼ねた箱形基台10の上部
には平行揺動リンク11,12を介してコイル支持台13が設
けてあり、ここに鞍形の誘導加熱コイル7,および誘導加
熱コイル7を挟んでその両側に配した合計4個のローラ
からなる回転ローラ組14が搭載されている。また取付台
13の上面には缶商品を遊嵌支持する窓15が開口してい
る。
First, in FIG. 1, a coil support 13 is provided on a box-shaped base 10 which also functions as a wind tunnel via parallel swing links 11 and 12, and a saddle-shaped induction heating coil 7 and Also, a rotary roller group 14 composed of a total of four rollers arranged on both sides of the induction heating coil 7 is mounted. Also the mounting base
A window 15 is provided on the upper surface of 13 for loosely supporting the can product.

一方、基台10には駆動モータ16を備え、該駆動モータ16
と前記した回転ローラ14との間が3個の平歯車17,18,1
9、はすば歯車20、および第2図に示した平歯車21など
を介して伝動結合されている。なお、平歯車17は駆動モ
ータ16の出力軸に結合され、平歯車18は揺動リンク12と
同軸上に並べて基台10に軸支され、さらに平歯車19は揺
動リンク12の先端部と同軸上に並べて取付台13に軸支さ
れている。かかる構成で、駆動モータ16を回転すると、
前記した歯車機構を介してローラ組14の各ローラが同じ
方向に同期回転する。そして、第3図のようにローラ組
14の上に周面を接して缶商品9が担持されていると、缶
商品9が矢印Pのように自転方向に回転することにな
る。
On the other hand, the base 10 is provided with a drive motor 16 and the drive motor 16
There are three spur gears 17, 18, 1 between the rotary roller 14 and
9, the helical gear 20, and the spur gear 21 shown in FIG. The spur gear 17 is coupled to the output shaft of the drive motor 16, the spur gear 18 is coaxially aligned with the swing link 12 and is axially supported by the base 10, and the spur gear 19 is connected to the tip of the swing link 12. They are coaxially arranged and axially supported by a mounting base 13. With this configuration, when the drive motor 16 is rotated,
Each roller of the roller set 14 rotates synchronously in the same direction via the gear mechanism described above. Then, as shown in FIG.
When the can product 9 is carried on the peripheral surface of the can 14, the can product 9 rotates in the rotation direction as indicated by an arrow P.

また、第1図に戻り、先記した揺動リンク12の下端には
二股状のフォーク22が形成されており、このフォーク22
が平歯車19に取付けたクランクピン23に係合している。
これにより駆動モータ16で平歯車19を回転すると、第4
図のようにクランクピン23の回転に従動して揺動リンク
12が基台10への支軸24を支点として鎖線で表すように左
右交互に揺動し、これにより揺動リンク11,12に結合し
た支持台13が水平姿勢を維持して矢印Qの左右方向に往
復動する。したがって、図示のように支持台13に缶商品
9が装荷されていれば、支持台13と一緒に缶商品9が左
右交互に揺すられる。
Also, returning to FIG. 1, a bifurcated fork 22 is formed at the lower end of the swing link 12 described above.
Engages with a crank pin 23 attached to the spur gear 19.
As a result, when the spur gear 19 is rotated by the drive motor 16,
As shown in the figure, the swing link is driven by the rotation of the crank pin 23.
12 oscillates left and right alternately with a support shaft 24 to the base 10 as a fulcrum as shown by a chain line, whereby the support base 13 coupled to the oscillating links 11 and 12 maintains a horizontal posture and the left and right directions of the arrow Q are shown. Reciprocates in the direction. Therefore, if the canned goods 9 are loaded on the support base 13 as shown in the figure, the canned goods 9 are shaken alternately with the support base 13 right and left.

ここで、駆動モータ16,つまりクランクピン23の回転角
に対する支持台13の振幅の変化は正弦曲線で近似され、
その往復動の過程で振幅加速度が緩急変化する。したが
って第4図に示すように支持台13に装荷し缶商品9の中
身飲料9aは、前記した支持台13の往復動に伴う方向転
換,振幅加速度の変化により、缶内で揺すられて撹拌さ
れるようになる。
Here, the drive motor 16, that is, the change in the amplitude of the support base 13 with respect to the rotation angle of the crank pin 23 is approximated by a sine curve,
During the reciprocating motion, the amplitude acceleration changes abruptly. Therefore, as shown in FIG. 4, the content drink 9a loaded on the support 13 is shaken and stirred in the can due to the change of direction and the change in amplitude acceleration caused by the reciprocating movement of the support 13 described above. Become so.

なお、第1図において、風胴を兼ねる基台10の一方端に
は冷却空気の取り入れ口25が開口し、他端側に送風ファ
ン26を備えている。これは誘導加熱コイル7を冷却して
通電に伴うコイル自身の過熱を防止するためのものであ
る。
In FIG. 1, a cooling air intake 25 is opened at one end of the base 10 that also serves as a wind tunnel, and a blower fan 26 is provided at the other end. This is for cooling the induction heating coil 7 to prevent overheating of the coil itself due to energization.

上記の説明から明らかなように、回転・撹拌手段を構成
する前記構成において、駆動モータ16を始動してする
と、歯車機構と揺動リンク機構を介して回転ローラ組14
が回転しつつ同時に支持台13が左右方向へ交互に往復動
するようになる。したがって、第5図で述べた販売動作
により、商品収納部4から搬出した缶商品9が倒置姿勢
のまま商品過熱装置6の鞍形誘導加熱コイル7の上に受
容保持された状態で、誘導加熱コイル7への給電,並び
に駆動モータ16の運転を実行することにより、缶商品9
は誘導加熱を受けながら、回転移動と左右方向への揺動
による中身飲料の撹拌が同時に進行する。なお、缶商品
9は支持台13の開口窓15に嵌り込んで遊嵌支持されてお
り、かつ支持台13には誘導加熱コイル7,および回転ロー
ラ組14が一括して組み込まれているので、前記の動作過
程でローラ組14による缶商品9の回転操作が阻害される
ことはない。これにより、缶商品9はその全周面域て誘
導加熱を受け、かつ揺動により中身飲料が撹拌されて伝
熱性が高まり、短時間の誘導加熱で中身飲料の温度を効
果的に高めることができる。
As is clear from the above description, when the drive motor 16 is started in the above-described structure that constitutes the rotating / stirring means, the rotating roller group 14 is moved through the gear mechanism and the swing link mechanism.
At the same time, while rotating, the support base 13 alternately reciprocates in the left-right direction. Therefore, by the sales operation described in FIG. 5, the induction heating is performed while the can product 9 carried out from the product storage unit 4 is received and held on the saddle type induction heating coil 7 of the product heating device 6 in the inverted posture. By supplying power to the coil 7 and operating the drive motor 16, the can product 9
While being subjected to induction heating, the stirring of the content drink by the rotational movement and the rocking in the left-right direction simultaneously proceeds. Since the can product 9 is fitted into the opening window 15 of the support base 13 to be loosely fitted and supported, and the support base 13 is integrally assembled with the induction heating coil 7 and the rotary roller set 14, In the above operation process, the rotation operation of the can product 9 by the roller set 14 is not hindered. As a result, the canned product 9 is subjected to induction heating over the entire circumferential surface area thereof, and the swinging of the canned product agitates the content beverage to enhance the heat transfer property, and the temperature of the content beverage can be effectively increased by the induction heating in a short time. it can.

なお、この点についての評価を確認するために行った発
明者の実験結果によれば、缶商品を静止状態のまま誘導
加熱した場合と比べて、缶商品の自転操作により加熱効
果が20%、また撹拌操作により30%アップし、トータル
的には加熱効率約50%も高めることが確認されている。
According to the results of an experiment conducted by the inventor to confirm the evaluation on this point, the heating effect by the rotation operation of the can product is 20% as compared with the case where the can product is induction-heated in a stationary state, It has been confirmed that the stirring operation increases the efficiency by 30%, and the heating efficiency is increased by about 50% as a whole.

〔発明の効果〕〔The invention's effect〕

本発明の商品加熱装置は、以上説明したように構成され
ているので、次記の効果を奏する。
Since the commodity heating apparatus of the present invention is configured as described above, it has the following effects.

(1)商品加熱装置に回転・撹拌手段を組み込んで構成
したことにより、缶商品の誘導加熱工程で缶商品の回転
操作と撹拌操作を同時に行ってその加熱効率を高めるこ
とができ、販売動作で缶商品を所定温度まで昇温するに
要する加熱時間の大幅な短縮化が図れる。
(1) Since the product heating device is configured by incorporating the rotating / stirring means, it is possible to simultaneously perform the rotating operation and the stirring operation of the canned product in the induction heating process of the canned product so as to improve the heating efficiency thereof. The heating time required to raise the temperature of the canned product to a predetermined temperature can be significantly shortened.

【図面の簡単な説明】[Brief description of drawings]

第1図は本発明実施例による商品加熱装置の全体構成を
示す外観斜視図、第2図は第1図の支持台内部における
回転ローラ組の歯車構成図、第3図は缶商品の回転動作
説明図、第4図は缶商品の撹拌動作説明図、第5図は商
品加熱装置を装備した缶商品自動販売機の構成概要図で
ある。図において、 3:商品取出口、4:商品収納部、6:商品加熱装置、7:誘導
加熱コイル、12:揺動リンク、13:支持台、14:回転ロー
ラ組、16:駆動モータ、19〜21:歯車、23:クランクピ
ン、P:缶商品の回転方向、Q:缶商品の揺動方向。
FIG. 1 is an external perspective view showing the overall structure of a product heating apparatus according to an embodiment of the present invention, FIG. 2 is a block diagram of gears of a rotating roller set inside the support base of FIG. 1, and FIG. 3 is a rotating motion of a can product. FIG. 4 is an explanatory view of the stirring operation of the can product, and FIG. 5 is a schematic configuration diagram of a can product vending machine equipped with a product heating device. In the figure, 3: product outlet, 4: product storage unit, 6: product heating device, 7: induction heating coil, 12: swing link, 13: support base, 14: rotating roller set, 16: drive motor, 19 ~ 21: Gear, 23: Crank pin, P: Can product rotation direction, Q: Can product swing direction.

Claims (1)

【特許請求の範囲】[Claims] 【請求項1】商品収納部から商品取出口へ搬出される缶
商品をその搬出経路の途上で加熱する商品加熱装置であ
り、倒置姿勢で受容保持した缶商品を下面側から誘導加
熱する上面開放の鞍形誘導加熱コイルを装備したものに
おいて、前記誘導加熱コイルを搭載した缶商品の支持枠
を兼ねる支持台と、前記誘導加熱コイルに並置して前記
支持台に搭載した回転ローラ組によって缶商品を倒置姿
勢に担持しつつ自転方向の回転を与える回転手段と、前
記支持台に左右方向の往復動を与えて前記回転ローラ組
で担持した缶商品を揺する撹拌手段とを備えたことを特
徴とする缶商品自動販売機の商品加熱装置。
1. A product heating device for heating a can product carried out from a product storage section to a product take-out port on the way of the carrying-out route, wherein the can product received and held in an inverted posture is induction-heated from the lower surface side and opened up. A saddle-shaped induction heating coil equipped with the above-mentioned induction heating coil, and a supporting stand that also serves as a supporting frame for the can product, and a rotating roller set mounted on the supporting stand side by side with the induction heating coil. And a stirring means for imparting left-right reciprocating motion to the support base to shake the can product carried by the rotating roller set. Product heating device for canned product vending machines.
JP25323888A 1988-10-07 1988-10-07 Product heating device for canned product vending machines Expired - Fee Related JPH06101059B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP25323888A JPH06101059B2 (en) 1988-10-07 1988-10-07 Product heating device for canned product vending machines

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP25323888A JPH06101059B2 (en) 1988-10-07 1988-10-07 Product heating device for canned product vending machines

Publications (2)

Publication Number Publication Date
JPH02100791A JPH02100791A (en) 1990-04-12
JPH06101059B2 true JPH06101059B2 (en) 1994-12-12

Family

ID=17248483

Family Applications (1)

Application Number Title Priority Date Filing Date
JP25323888A Expired - Fee Related JPH06101059B2 (en) 1988-10-07 1988-10-07 Product heating device for canned product vending machines

Country Status (1)

Country Link
JP (1) JPH06101059B2 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5147068A (en) * 1991-01-16 1992-09-15 Wright Food Systems, Inc. Automated food vending system
JP2564677Y2 (en) * 1992-01-27 1998-03-09 大和製罐株式会社 Canned heating device
WO2004000508A1 (en) 2002-06-24 2003-12-31 Matsushita Electric Industrial Co., Ltd. Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism
JP5034432B2 (en) * 2005-12-21 2012-09-26 パナソニック株式会社 vending machine

Also Published As

Publication number Publication date
JPH02100791A (en) 1990-04-12

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