EP0991036A2 - Dispensing machine with a common delivery handler - Google Patents

Abstract

The dispensing device (10,15) has a number of forwards angled storage shelves for the dispensed goods, stacked one above the other and an electronically controlled manipulator, moved within a free space at the front of the shelves, for removal of the front item from a selected shelf, each shelf provided as a removable unit.

Description

The invention relates to an automatic dispenser for dispensing Goods, especially in pharmacies to relieve the pharmacist of searches and runs.

Numerous forms of automatic dispensers are known, in particular used in pharmacies. Such dispensers have a manipulator that computer controlled a desired one Takes product off a shelf and either it directly or via a feeder near the sales counter promotes. In addition to shelves with horizontal shelves Inclined shelf racks are also known, in which the goods each on an inclined shelf in orderly rows lie, with the lowest product in the row is supported on a stop element. A robot can do that grab the bottom goods in a defined position and put it in a shopping cart. The one Slope shelf racks are usually operated by manipulator filled from the back, i.e. from that Side facing away from the removal side. A filling is basically also possible from the withdrawal side, however then the objects in a row must be pushed up become. In addition, this filling has the disadvantage that the "first in - first out" principle cannot be implemented.

In the case of manually operated pharmacy shelves, there are inclined shelves, where the sloping shelves are designed as extracts are pulled out for refilling to the removal side can be.

The invention has for its object a dispenser for goods issue to create a short access time has and allows easy and quick filling.

This problem is solved in a first variant the invention with the features specified in claim 1 and in a second variant with the features of the claim 2nd

The dispenser according to the invention contains a sloping shelf, in front of which a free space is arranged in which a manipulator moves. The manipulator has access to the goods at the front of each inclined shelf, so that he can control the goods and remove them individually.

In the first variant, the sloping shelves are pull-outs formed, which can be individually pulled out preferably towards the free space are. The dispenser then does not need to Filling to be accessible from the back. He can in a closed box that can only be accommodated its front is open. The front of the sloping shelf forms the withdrawal side. On her the space in which the manipulator for operating the Sloping shelves can be moved in a controlled manner. Can be refilled the sloping shelves individually in the direction of the free space, i.e. be pulled out across the open space. Here is a shelf operation possible according to the first in - first out principle. The manipulator is designed to be in a release position can be driven in which all sloping shelves releases and does not prevent a sloping shelf from pulling out. Since the sloping shelf shelf can be filled from the side, where the manipulator moves, the rest need Walls to be inaccessible. In particular, there is the possibility to accommodate the dispenser in a housing, except for the door that limits the space is enclosed by walls. An advantage of the invention is that if the manipulator fails, the removal of objects can be done manually by opening Door is intervened in the shelf.

In the first variant of the invention it is also possible the sloping shelves as horizontal pull-outs to train. In this case, the sloping shelves pulled out parallel to the free space horizontally and after the assembly is then inserted again.

In the second variant of the invention, the sloping shelf has at least one pull-out pull-out shelf. This is a whole pull-out shelf that consists of several one above the other arranged sloping shelves consists of its rest position, which forms the removal position, moved out to to be able to load the sloping shelf with goods. The pull shelf runs in telescopic pull-out rails in which it moved from a removal position to a loading position can be. The lower ends are in the removal position the inclined shelves are accessible to the manipulator. The individual inclined shelves are required within a pull-out shelf not to be able to be moved individually. Rather, they can with the pull-out shelf pulled out from the rear become.

The dispenser according to the invention is suitable as a sales device for fast and medium movers. As a quick and Mid-turners are called those goods that are special are frequently or frequently requested. The sales device can in existing shop facilities or pharmacy facilities to get integrated. It is particularly suitable as Part of a sales counter from the customer side is closed, with the door of the housing on the operating side located. Alternatively, it is also possible to use the Automatic dispensers in a wall unit or shelf as built-in furniture or to integrate underbench furniture. So it's not required, the dispenser as an additional storage unit to install. Rather, the dispenser can be in one existing sales furniture system can be integrated. This is because the fact that it can be enclosed on all sides and only one only one door needed, at which there is also the dispensing opening or the removal compartment is located.

According to a preferred embodiment of the invention forms a wall delimiting the free space is a contact surface for objects transported obliquely to the manipulator. The Manipulator, one standing on a sloping shelf Object takes over in an oblique orientation, moves along the inside surface of the wall, the one on the manipulator lying object is supported on the wall and on the Sweeps along the wall until the item exits the dispensing opening reached and falls out of it. This will make the output process automated without an additional controlled Issuing body would be required.

In a preferred embodiment of the invention, the Manipulator a movable along two-axis coordinates Trolley on at least one in a slot in the shelf extendable and then to lift the goods over the stop element has liftable fingers. Here will the goods are not gripped with a gripper, but only raised above the stop element, so that this the Sliding movement of the goods no longer impeded by gravity. The goods glide under the force of gravity Fingers and onto the manipulator's carriage, taking the following Goods slide up to the stop element. For the The removal process only requires the manipulator's finger to be controlled in such a way that it removes the goods to be removed merely lifts, but does not grip firmly. The goods then slide as a result of gravity on the manipulator's carriage. Consequently Eliminate complex gripping and control operations and it is too no adjustment of a gripper to the size and shape of the goods required.

The manipulator is advantageously controlled in such a way that he in a rest position in which the door is opened can, a release position at a point of the free space takes on which he pulling out none of the inclined shelves with special needs.

The required control units are preferably under the sloping shelf. Because the sloping shelves the bottom must be pulled out diagonally downwards Sloping shelves have a certain ground clearance. This will exploited for the accommodation of the control units, so that the entire dispenser is compact and small Height.

The dispenser is suitable as a sales aid for support of a seller. A special area of application is the one of the pharmacies where the dispenser is in the frame a pharmacy equipment can be used. Must in pharmacies a large variety of products are kept in stock.

These products are mostly contained in rectangular packs. Therefore, pharmacy products are particularly suitable for one automated output.

Alternatively, the dispenser can also be used for the immediate Customer service can be used, for example as automatic cash dispenser for a variety of selectable Products.

The following are exemplary embodiments with reference to the drawings the invention explained in more detail.

Fig. 1

eine schematische Darstellung eines Apothekenraumes, der mit zwei Ausgabeautomaten ausgestattet ist,

Fig. 2

einen vertikalen Querschnitt durch einen Ausgabeautomaten nach der ersten Variante der Erfindung,

Fig. 3

einen Schnitt entlang der Linie III-III von Fig. 2,

Fig. 4

in vergrößertem Maßstab eine Seitenansicht des Wagens des Manipulators,

Fig. 5

einen Querschnitt entlang der Linie V-V von Fig. 4,

Fig. 6

einen Schnitt entlang der Linie VI-VI von Fig. 3,

Fig. 7

in gleicher Darstellung wie Fig. 6 den Auszugszustand eines Schrägfachbodens,

Fig. 8

in vergrößertem Maßstab die Einzelheit VIII aus Fig. 6,

Fig. 9

in vergrößertem Maßstab die Einzelheit IX aus Fig. 7,

Fig. 10

einen Vertikalschnitt durch einen Ausgabeautomaten nach der zweiten Variante der Erfindung,

Fig. 11

eine Draufsicht von Fig. 10,

Fig. 12

eine Draufsicht gemäß Fig. 11, jedoch bei ausgezogenem Ziehregal, und

Fig. 13

eine Seitenansicht aus Richtung des Pfeiles XIII von Fig. 12.

Show it:

Fig. 1

1 shows a schematic representation of a pharmacy room which is equipped with two dispensing machines,

Fig. 2

3 shows a vertical cross section through an automatic dispenser according to the first variant of the invention,

Fig. 3

3 shows a section along the line III-III of FIG. 2,

Fig. 4

an enlarged side view of the manipulator carriage,

Fig. 5

3 shows a cross section along the line VV from FIG. 4,

Fig. 6

4 shows a section along the line VI-VI from FIG. 3,

Fig. 7

6 shows the pull-out state of a sloping compartment floor,

Fig. 8

on an enlarged scale the detail VIII from FIG. 6,

Fig. 9

on an enlarged scale the detail IX from FIG. 7,

Fig. 10

3 shows a vertical section through an automatic dispenser according to the second variant of the invention,

Fig. 11

10 is a top view of FIG. 10,

Fig. 12

11, but with the pull-out shelf extended, and

Fig. 13

a side view from the direction of arrow XIII of FIG. 12th

1, an automatic dispenser 10 is in a manual sales table integrated at its top by a Plate 11 is complete. On the hand sales table 10 is the cash register 12, usually with a (Not shown) barcode reader is equipped. Moreover there is an input device 13 on the manual sales table with a keyboard for entering the number or a description of the product to be dispensed.

Located on the operating side of the dispenser 10 an output tray 14 from which the dispensed product is removed and can be given to the customer.

In addition, another automatic dispenser 15 is shown, the is integrated into a wall unit 16. The dispenser too 15 is in a closed housing that the Access through a door. The output tray 17 is within easy reach of the seller. Alternatively the vending machine can be used as a base cabinet on a shelf be integrated into the furnishing system.

The present exemplary embodiment is a pharmacy facility. In the dispenser numerous products kept on demand. The pharmacist gives the identification on the input device 13 of the product to be dispensed and the respective dispenser 10 or 15 then places this product in the output tray 14 or 17 ready for removal. It is also possible instead the input device 13 the input device of the Cash register 12 for entering commands at the automatic dispenser to use. It is also possible by the cash register displayed storage bin number of the desired product to enter manually into the input device.

In the embodiment of Figures 2 to 9, the Dispenser 10 has a housing 18 which is closed on all sides, which only has a pivotable door 19 towards the operator side the outside of which is the output tray 14.

The inclined shelf shelf 20 is arranged in the housing 18. This has numerous sloping shelves arranged one above the other 21 on. The inclined shelves 21 are inserted Condition inclined at an angle so large that the goods 22 deposited on the inclined shelves 21 due to their Weight against a provided at the lower end of the sloping shelf Bump stop element 23. The sloping shelf 21 consists of a plate with a smooth and flat top, which is provided with cutouts 24 (Fig. 3), which the Inserting separating strips 25 in different selectable Enable positions. Through the dividing strips 25 goods channels 26 divided, which have different widths can, depending on the length or width of the stacked in them Goods 22. This allows a good use of space because the width of the channels 26 to the respective product dimensions can be adjusted very precisely. On the other hand, it ensures that the goods 22 exactly in batches in each goods channel be performed.

Are located on the lower edge of the sloping shelf 21 Slits 27, in which the stop element 23 also forms Cross bar is interrupted.

The inclined shelves 21 extend essentially over the entire width of the housing 18 and they are on the sides guided in guide rails 28, which as mounting rails in Inside the housing 18 mounted on vertical support strips 29 are. The support strips 29 have numerous holes, so that the Guide rails 28 arranged at different heights depending on the size of the ones below Sloping shelves to be placed. The sloping shelves 21 thus form height-adjustable sloping trays, which can be divided differently. Each two slots 27 form a pair of slots. The slot pairs are arranged at regular intervals.

There is a space 30 below the sloping shelf 20 (Figure 2), in the control units 31 and the power supply and other auxiliary elements are housed.

Before the removal side of the inclined shelf shelf 20 is a Free space 33 is provided, which is limited by the door 19 and in which the manipulator 34 is movable.

The manipulator 34 has a carriage 35 which is on a horizontal spindle 36 and a spline parallel to this 37 is held displaceably. The spindle 36 is one Threaded spindle with a spindle nut 56 of the carriage 35 is engaged. By rotating the spindle 36 Carriage 35 horizontally parallel to the inclined shelves over the entire width of the sloping shelves shifted.

The spindle 36 and the spline shaft 37 are in at one end a holder 38 and at the opposite end in one Holder 39 stored (Fig. 3). On the holder 38 is a Spindle 36 rotating motor 40 attached to the horizontal Transverse drive of the carriage 35 causes. The holder 38 is connected to a vertical spindle drive 41, the threaded spindle 42 extends over the entire height of the free space 33. The holder 39 is also vertical Spindle drive 43 connected, the vertical spindle 44 itself extends over the entire height. The spindle drive 41 has a mounted on the holder 38 spindle nut 45 and the Spindle drive 43 has a spindle nut attached to the holder 39 46 on. The spindles 42, 44 are endlessly rotating Timing belt 47 driven synchronously with each other. This will manipulate the manipulator along the vertical spindles Move 42 and 44 vertically. The toothed belt 47 rotates Pulleys, which are firmly connected to the spindles 42,44 are. It also runs around a drive pulley 48 which is driven by a Motor 49 is driven. Deflection discs 50.51 ensure that the toothed belt 47, the drive pulley 48 in one Circumferential angle of 180 °. The entire timing belt drive is at the upper end of the free space 33 under the plate 11 attached to the housing 18 at a fixed height and the spindles 42,44 are also rotatably mounted on the housing 18. The from the spindle 36 of the spline 37, the holders 38, 39 and the spindle nuts 45.46 existing vertical slide the guide frame for the horizontal guidance of the carriage 35. The motor 40 for the horizontal drive and the motor 49 for the vertical drive are both stepper motors that are electronic are controlled so that the carriage 35 determined Approach target positions in vertical and horizontal direction can.

The carriage 35 has a carrier 55, one with the Spindle 36 engages spindle nut 56 and is also supported on the spline shaft 37. As from Figure 2 emerges, the spline 37 is arranged higher than that Spindle 36. The carrier 55 rises to the inclined shelves 21 and generally with the same slope that the Have sloping shelves. A gearwheel slides on the Keli shaft 37 57 (Figure 4), which can be moved along the spline is and is engaged with a rack 58 which on the Carrier 55 in the transverse direction and with the same slope as the inclined shelves 21 is displaceable. The rack 58 5 is guided displaceably on the carrier 55. she is connected to an upstanding pin 59, which in one slides 60 slidable along the carrier 55. The slide 60 is between two link plates 61, 62 of the carrier 55 slidably. The backdrop plates included slot-shaped guideways 63.64. In the guideways 63 is the slide 60 with protruding in opposite directions Pins 65 guided and 64 in the guideways the slider 60 also in opposite directions protruding pins 66 out. The movement of the slider 60 is carried out by the pin 59, which of the rack 58th is linearly driven. The fact that the pins 65 and 66 in the mutually identical guideways 63 and 64 engage, the slide 60 is also moved in the transverse direction, with however, it maintains its parallel (oblique) orientation. The guideways 63 and 64 are in the manner of hysteresis juries educated. They cause the height of the slide 60 changes with respect to the carrier 55.

The surface of the carrier 55 forms an airfoil 68, which slide the objects 22 released from the shelf.

The slider 60 carries two towards the inclined shelves 21 protruding plate-shaped fingers 67, which if they are in the retracted state, in slots in the wing 68 are sunk and not beyond the wing survive. In contrast, the slide 60 through the rack 58 advanced (Figure 4), then the guideways 63 and 64, the slider 60, whereby the fingers 67 over the Wing 68 are raised. Here keep the Fingers 67 are parallel to the inclined shelves 21 at.

The mutual distance between the two fingers 67 is equal to that Distance of the slots 27 of a pair. The car 35 is in front a sloping shelf 21 positioned so that the fingers 67th align exactly with the two slots 27. Then the Advance slider 60 through rack 58 the fingers 67 pass through the slots 27 from below, being the foremost pushing against the stop member 23 Reach in and lift up object 22a. It glides the object 22a on the fingers 67, finally to the Wing 68 to slide until it hits the inside of the Door 19 bumps. The following items 22 of the subject Goods channel 26 slide down the inclined shelf 21, until the foremost object against the stop element 23 comes across.

In Figure 2 it is shown how the fingers 67 the object 22a have lifted beyond the stop element 23. The Item 22a slides under gravity Finger 67 and the wing 68 until he against the inside the door 19 bumps and then assumes the position 22b. The subsequent items 22 automatically move up. On in this way the manipulator 34 simply by lifting the finger 67 a separation of the foremost object 22a and without any control operations the advancement of the other items 22.

When an object 22b rests on the sloping wing 68, it is from the door 19, which is a contact surface or sliding surface forms, supported. The carriage 35 will move sideways in a lying under the discharge opening 70 Position moved and then raised vertically. Here, the object 22b reaches the lower edge of the dispensing opening 70. The lower edge 71 runs to the inside of the Door 19 pointed towards, so that the object when passing Lower edge 71 initially with its front side on this lower edge sweeps along and then into the output tray 14 falls when it completely passes the lower edge 71 Has. The output tray 14 can be under the weight of the item dump into a delivery position 14a (FIG. 2) from which the object can be removed more easily. Of this Dispensing position 14a is the output tray 14 by a spring returned to the waiting position when the item is removed has been.

To handle objects of a relatively large width can, the carriage 35 is 72.73 with two side arms provided (Fig. 3). Each boom has one over the wing 68 towering driving plate 74 on the Rods 75.76 is movably guided and springs 77.78 in the Outside position is pressed. Located between the springs 77.78 a support plate 79 that does not have the wing 68 protrudes and serves to prevent objects from falling between the wing and the drive plate.

When the carriage 35 is moved to an extreme end position, to find an edge position of a sloping shelf, the jib 72 or 73 abuts the corresponding holder 38 and 39, the boom with compression of the springs 77.78 is pressed against the carriage 35. In this way the boom gives way and allows the carriage 35 to in to advance the end position. The discharge opening 70 and the output tray 14 have a width that is the maximum Span of the boom corresponds to 72.73 and at the same time that Specifies the format of the largest item to be output.

The manipulator 34 is controlled so that the carriage 35 in a rest position in which the door 19 can be opened, occupies a reference position. The reference position is at a point in the free space 33 where the manipulator 34 pulling out none of the inclined shelves 21 hindered. The reference position is preferably in the lower position left or right corner of the free space 33, as viewed through the open door. The bottom sloping shelf is then over the sloping wing 68 of the carriage 35 pulled out. The reference position is also the starting position for the next time the dispenser is switched on. Since the position control is done via stepper motors, it is advantageous that the pulse count starting from a defined reference position can take place.

In Figures 6 to 9 is the pull-out movement of the inclined shelves 21 shown. Each sloping shelf has two Sidewalls 80, which protrude from the base plate 81 and at its upper end with an outward U-shaped Bends are provided, which are open at the bottom Run channel 82 for the support roller of the guide rail 28 forms. At the rear end of the side wall 80 are two in the longitudinal direction slightly offset against each other 83.84 stored. At the front end of the side cheek is 80 an elastic pressure roller 85 is mounted. The pressure roller 85 acts with the support roller recess 86 shown in FIG. 8 of the run channel 82 together and forms a locking device for engaging the support roller 90 of the guide rail 28.

The guide rail 28 has a fastening leg 91 on the attached to the support strips 29 at a suitable height and a guide bar 92 projecting laterally therefrom. The support roller 90 is mounted on the fastening leg 91. While the support roller 90 engages in the running channel 82, is the roller 83 under the guide bar 92 and the roller 84 over this guide bar. The Floor plate 81 thus runs at an acute angle the guide bar 92.

In Figures 6 and 8, the inclined shelf 21 is inserted State shown in which the bottom plate 81 under at an angle of approximately 25 ° to the horizontal. The angle of inclination the guide bar 92 is about 3 ° larger. in the the inserted state, the support roller recess 86 overlaps the support roller 90. The elastic pressure roller presses 85 against the support roller 90 so that it is firmly in the support roller trough 86 is held and thus as a safety catch serves. This causes the sloping shelf to be pushed in locked, but this locking by pulling out of the sloping shelf can be lifted.

When pulling out the sloping shelf 21, the rollers roll 83, 84 on opposite sides of the guide bar 92 from, where they approach the support roller 90 more and more. With increasing approach of the rollers 83.84 to the support roller 90 the inclined position of the sloping shelf 21 is reduced. The front end of the sloping shelf describes the in Figure 7 with 93 designated sheets. At the end of the pull-out movement the inclination of the sloping shelf 21 is only about 5 °.

In the end position of the pull-out movement, the sloping shelf locks into place 21 a. This is shown in Fig. 9. In the running channel 82 is formed a trough 94 delimited by elevations, in which the support roller 90 engages. Because in this condition the weight of the sloping shelf with the long lever arm effective is an additional pressure of the support roller 90 not required.

The complete removal of the sloping shelf 21 is thereby possible that the sloping shelf in the shown in Figure 9 Position slightly raised and still further is pulled out. Then the rollers 83, 84 pass that End 95 of the guide bar 92, so that the inclined shelf can be lifted out. The support roller 90 is horizontal Distance from end 95. The guide bar 92 ends at a point at which the fastening leg 91 the guide rail 28 still goes on.

When the sloping shelf 21 is pulled out, it slides due to gravity along the guide rails 28 obliquely down. If he is not guided by hand and withheld, there would be a danger that he would a high kinetic impulse against the end stop of the guide rails 28 comes across and that there are goods over the Tilt the stop element 23 away. As a result of the in FIG the line 93 indicated pivoting movement becomes the kinetic Energy gently intercepted. In addition, the sloping shelf takes 21 an almost horizontal position when pulled out a, in which the manual loading or refilling easier is. Finally, the one below the bottom Sloping shelf reduces required ground clearance, so that better use of space is possible.

In the embodiment of FIGS. 10 to 13 has the Dispenser 10a a housing 18a closed on all sides on that at one end by a parallel sliding Door 19a is closed. This is in the housing 18a Sloping shelf shelf 20a arranged, the numerous one above the other arranged inclined shelves 21, which in are arranged in the same way as the inclined shelves of first embodiment. The sloping shelves fall here not to the front, but to a side wall of the housing 18a. The inclined shelves 21 are part of a Pull shelf 100, which according to FIGS. 12 and 13 from the housing 18a can be pulled out. The shelf 20a has one inside of the housing 18a contained frame 101 made of vertical supports 102 and horizontal strips 103. This stationary Frame 101 contains the stationary parts of telescopic pull-outs 105.106. The telescopic pull-outs are roller pull-outs, like them are known from drawer guides. The telescopic extension 106 has a stationary rail 106a, an extension rail 106b and a support rail 106c. While the stationary Rail 106a and the pull-out rail 106b of the lower one Telescopic extension 106 are arranged one above the other corresponding rails in the upper telescopic extension 105, which is less loaded, arranged side by side. As the Fig. 12 and 13 show the telescopic extensions 105, 106 pulling the pull shelf 100 completely out of the frame 101, so that it is in its entirety outside the Housing 18a is located. The pull shelf 100 has a rigid Frame 107 with two end walls 108, 109, between which the inclined shelves 21 are firmly attached. On the front wall 108 the door 19a is attached, which when the telescopic extension is inserted closes the door opening 110.

As in the first embodiment, the Housing 18a in front of the sloping shelf 20a, the free space 33, in which the manipulator 34 as in the first embodiment is movable. The manipulator corresponds to that of the first embodiment and is therefore not yet once explained. It moves on the vertical wall 111 along that as a sliding wall to support the on the wing 68 of the carriage 35 lying object 22b is used.

The discharge opening 70a is in this embodiment on the horizontal top wall 112 of the housing 18a. The manipulator 34 transports a removed object first perpendicularly under the discharge opening 70a and then drives up to grasp the item in the dispensing opening showcase.

The control units 31 are also the lowest here Sloping shelf 21 arranged and stationary in the housing, so that they don't move together with the drag shelf.

The pull-out shelf can be equipped according to FIG Fig. 12 and 13 are pulled out of the housing 18a. Then the inclined shelves 21 can be equipped with objects 22 in which these objects from behind, i.e. from be introduced at the upper end, finally against hit the stop element 23 or another object.

Claims (13)

Dispenser with a sloping shelf (20), the several sloping shelves arranged one above the other (21) contains, which fall towards the removal side, and one Manipulator (34) in one on the removal side provided free space (33) is controlled to move Take out goods (22a) on a sloping shelf (21) lying at the front on a stop element (23) are supported, the inclined shelves (21) as Extracts are formed that can be pulled out individually. Dispenser with a sloping shelf (20a), the several sloping shelves arranged one above the other (21) contains, which fall towards the removal side, and one Manipulator (34) in one on the removal side provided free space (33) is controlled to move Take out goods (22a) on a sloping shelf (21) lying at the front on a stop element (23) are supported, the inclined shelf shelf (20a) has at least one pull-out pull shelf (100). Automatic dispenser according to claim 1, characterized in that the inclined shelf (20) with the manipulator (34) containing free space (33) from a housing (18) is enclosed, the one which limits the free space (33) Has door (19) through the opening of which Sloping shelves (21) can be pulled out. Automatic dispenser according to claim 3, characterized in that the manipulator (34) is controlled so that it in a rest position in which the door (19) are opened can, a release position at a point of the free space (33) on which he is not pulling out any of the Sloping shelves (21) hindered. Automatic dispenser according to claim 3 or 4, characterized in that that at the door (19) an outlet opening (70) is provided in which the manipulator (34) from the shelf (20) removed objects (22b) released. Automatic dispenser according to claim 1, characterized in that the inclined shelves (21) in guide rails (28) are so led to the free space (33) that you Tilt angle smaller with increasing extension movement becomes. Dispenser according to claim 2, characterized in that the pull-out shelf (100) parallel to the free space (33) the area detectable by the manipulator (34) is extractable. Automatic dispenser according to one of claims 1-7, characterized characterized in that a free space (33) delimiting Wall (19; 111) a contact surface for on the manipulator (34) Objects transported in an inclined position (22b) forms. Automatic dispenser according to one of claims 1-8, characterized characterized in that the inclined shelf shelf (20; 20a) with the free space (33) containing the manipulator in one Housing (18; 18a) is included and that the housing (18; 18a) is integrated in a sales counter. Automatic dispenser according to one of claims 1-8, characterized characterized in that the inclined shelf shelf (20; 20a) with the free space (33) containing the manipulator in one Housing (18; 18a) is included and that the housing (18; 18a) integrated in a wall unit or shelf is. Dispenser according to one of claims 1-10, characterized characterized in that the manipulator (34) a longitudinal carriage (35) movable in two-axis coordinates, the at least one in a slot (27) of the shelf (21) extendable and then for lifting the goods (22) fingers (67) which can be lifted over the stop element (23) having. Automatic dispenser according to one of claims 1-11, characterized characterized in that under the sloping shelf (20; 20a) control units (31) are housed. Automatic dispenser according to one of claims 1-12, characterized characterized in that a stationary during operation Dispensing opening (70; 70a) is arranged such that it from the non-rotating carriage, which can only be moved on two axes (35) of the manipulator (34) can be approached.

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