EP1360658B1 - Procede et appareil servant a inclure une identification de produits dans un dispositif de distribution de produits - Google Patents

Procede et appareil servant a inclure une identification de produits dans un dispositif de distribution de produits Download PDF

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Publication number
EP1360658B1
EP1360658B1 EP01939400A EP01939400A EP1360658B1 EP 1360658 B1 EP1360658 B1 EP 1360658B1 EP 01939400 A EP01939400 A EP 01939400A EP 01939400 A EP01939400 A EP 01939400A EP 1360658 B1 EP1360658 B1 EP 1360658B1
Authority
EP
European Patent Office
Prior art keywords
article
grasping
storage area
dispensing
identification
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 - Lifetime
Application number
EP01939400A
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German (de)
English (en)
Other versions
EP1360658A2 (fr
Inventor
Munroe Chirnomas
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.)
Individual
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Individual
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Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to EP08010434A priority Critical patent/EP1986165A1/fr
Publication of EP1360658A2 publication Critical patent/EP1360658A2/fr
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Publication of EP1360658B1 publication Critical patent/EP1360658B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16—Delivery means
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F7/00—Mechanisms actuated by objects other than coins to free or to actuate vending, hiring, coin or paper currency dispensing or refunding apparatus
    • G07F7/06—Mechanisms actuated by objects other than coins to free or to actuate vending, hiring, coin or paper currency dispensing or refunding apparatus by returnable containers, i.e. reverse vending systems in which a user is rewarded for returning a container that serves as a token of value, e.g. bottles
    • G07F7/069—Mechanisms actuated by objects other than coins to free or to actuate vending, hiring, coin or paper currency dispensing or refunding apparatus by returnable containers, i.e. reverse vending systems in which a user is rewarded for returning a container that serves as a token of value, e.g. bottles by box-like containers, e.g. videocassettes, books
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/10—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other two or more magazines having a common delivery chute
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16—Delivery means
    • G07F11/165—Delivery means using xyz-picker or multi-dimensional article picking arrangements
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16—Delivery means
    • G07F11/165—Delivery means using xyz-picker or multi-dimensional article picking arrangements
    • G07F11/1657—Delivery means using xyz-picker or multi-dimensional article picking arrangements the picking arrangements using suction
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/62—Coin-freed apparatus for dispensing, or the like, discrete articles in which the articles are stored in compartments in fixed receptacles
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F5/00—Coin-actuated mechanisms; Interlocks
    • G07F5/18—Coin-actuated mechanisms; Interlocks specially adapted for controlling several coin-freed apparatus from one place
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F9/00—Details other than those peculiar to special kinds or types of apparatus
    • G07F9/001—Interfacing with vending machines using mobile or wearable devices
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F9/00—Details other than those peculiar to special kinds or types of apparatus
    • G07F9/002—Vending machines being part of a centrally controlled network of vending machines
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F9/00—Details other than those peculiar to special kinds or types of apparatus
    • G07F9/02—Devices for alarm or indication, e.g. when empty; Advertising arrangements in coin-freed apparatus

Definitions

  • the present invention relates generally to improvements in the design and operation of an article handling apparatus used in conjunction with an article identification device, and is particularly useful in the environment of an article handling device as used a vending machine.
  • US Patent 5,240,139 represents a significant improvement in article handling devices. It describes the use of a negative air pressure lifter (i.e., article pickup or handling mechanism), which uses suction, i.e., a reduced or so-called "negative" air pressure created by a partial vacuum, for making a secure contact to an article to be retrieved by entering the open top of an article storage bin located in a refrigerated storage area of a vending machine.
  • a negative air pressure lifter i.e., article pickup or handling mechanism
  • suction i.e., a reduced or so-called "negative" air pressure created by a partial vacuum
  • U.S. patent 5,272,321 entitled AUTOMATIC.VENDING MACHINE HAVING A BAR CODE READER AND BAR-CODED COLUMNS AND SWITCHES assigned to Sanyo Electric Co. describes a vending apparatus for handling articles for which preprinted barcodes have been applied.
  • a handheld bar code reader is used to scan a preprinted sheet of bar codes which is located on the inside of the front door of the vending machine.
  • the sheet includes barcodes for programming the CPU of the machine with the identification of the articles stored in the machine, identification of the storage columns in which those articles have been loaded, and identification of which user selection switches have been designated for activating dispensing of a given article from a given column.
  • JP 4123192A2 entitled DEVICE FOR PREVENTING ERRONEOUS THROW-IN OF COMMODITY OF VENDING MACHINE assigned to Sanyo Electric Co. discloses the use of a bar code reader at the top, input end, of each article storage column in a vending machine. During refilling of the machine with articles, if the bar code reader at the top of each article storage column reads a product code that is not preprogrammed to be stored in that column, the vending machine controller operates a gate which will prevent that article from further entrance into the article storage column. In this way, erroneous refilling of the article storage columns is prevented.
  • JP4123194A2 entitled ERRONEOUS SALE PREVENTING DEVICE FOR VENDING MACHINE also assigned to Sanyo Electric Co., includes a handheld bar code scanner and programming sheet of bar codes for programming the controller of the vending machine during a set up mode (a technique similar that noted above in U.S. patent 5,272,321 ), as well as a fixed-position bar code scanner located just above the product exit chute of the vending machine, for reading the product identification bar code during dispensing.
  • the vending machine controller operates to suspend dispensing of products from that storage column.
  • U.S. patent 5,390,711 by Murphey entitled METHOD AND APPARATUS FOR MAKING SNOW CONES discloses a vending machine of the type for storing articles in article storage columns.
  • the columns are vertically oriented and dispense paper cups, which include a unique sequence of bar codes preprinted thereon, to a customer retrieval area where the paper cups are filled with flavored crushed ice.
  • the article storage columns are substantially horizontal and the dispensing apparatus substantially comprises a spiral wire (i.e., a conventional "spiral" vending machine).
  • a fixed position bar code reader is located at the dispensing end of each article storage column, for identifying the article which is about to be dispensed.
  • the dispensing operation is automatically suspended, any money inserted into the machine is returned, and the customer is notified that the machine is now inoperative or sold out.
  • a voltage oversurge is provided to the control circuitry of the vending machine, which effectively destroys the control circuitry and renders the machine inoperative.
  • the fixed position bar code reader may have difficulty reading the article barcodes, especially if the article is improperly positioned in the storage column, such as the package being rotationally offset by 90, 180 or 270 degrees.
  • U.S. patent 5,713,487 by Coughlin entitled MEDICAMENT VERIFICATION IN AN AUTOMATIC DISPENSING SYSTEM, is representative of a class of patents directed to preventing the dispensing of erroneous products (such as medication vials or video cassettes), due to improper loading of the storage area.
  • These patents show the use of a bar code reader mounted on a computer controlled manipulator arm used for retrieving the articles from the storage area.
  • Each stored article, or its packaging, includes a preprinted identifying bar code.
  • the bar code reader When the machine controller moves the manipulator arm so as to retrieve a stored product, the bar code reader is operated so as to scan the bar code on the article, and if the bar code does not match the bar code of the article which is expected to be at that storage location (in accordance with preprogramming of the machine controller), the dispensing operation is suspended and the user of the machine is notified of a problem. If, however, the bar code is proper, the article is dispensed. It is also known that when the machine is not vending articles, the controller can operate the manipulator arm in a "checking" mode, wherein the bar code on an article storage at each location in the storage area is scanned and then checked (compared) with the article identification code stored in the memory of the controller.
  • Improperly stored articles are thus pre-identified, and will not be dispensed.
  • One disadvantage of these types of systems is that the bar code reader and electrical connections suffer stress due to the many cycles of manipulator arm movement, since the bar code reader is mounted on the manipulator arm. Furthermore, this kind of positioning for the bar code reader can reduce the reliability of the bar code reading device, and also introduces mechanical and electronic complexity in its construction, due to the necessity of providing electrical connections to a movable bar code reader. Even furthermore, by positioning the bar code reader on the manipulator arm, restrictions are placed upon the "view" provided to the reader as the manipulator arm is advanced toward the article to be retrieved, leading to an increase of the probability that the article bar code may not be properly read.
  • one of the general objects of the present invention is to provide new techniques and methods for the design, operation and control of article handling mechanisms.
  • US-A-4,812,629 discloses a video cassette vending machine having a storage area for storing a plurality of video cassettes in respective compartments.
  • An article grasping and extracting device extracts a video cassette from a storage location and delivers it to a retrieval area for dispensing to a user-
  • Each cassette carries a bar code which is read by a bar code reader on the article grasping and extracting device.
  • US-A-5,139,384 also discloses an article retrieving apparatus which comprises a storage area for storing articles for example video cassettes. Articles are grasped and extracted from the storage area by an article grasping and extracting device and delivered to a conveyor. The conveyor delivers the extracted video cassette to a dispensing port. The conveyor has an article identification device for reading an identification code on a video cassette.
  • US-A-6,006,946 discloses a system for dispensing pills which includes a shelving unit in an array that holds a number of bulk containers each holding a bulk amount of pills.
  • a computer controlled robot removes a selected bulk container and places it on a counter that dispenses the pills.
  • the robot has an arm with a free end portion that can grip a bulk container or a single bottle to be filled with pills.
  • the robot is computer controlled to retrieve an empty bottle, place it on a label printing and applying unit then place it next to the counter to receive the medicine and then place the filled labeled bottle on to a conveyor for delivery to a dispensing port- At the dispensing port the bottle is scanned by an operator using a scanner.
  • an article retrieving apparatus comprising:
  • an illustrated embodiment of an article dispensing apparatus is embodied, for example, as a vending machine, including a controllably positioned suction hose dispenser for retrieving articles from a storage area.
  • the article dispenser comprises a storage area for storing articles along at least one longitudinal axis in a stack, an article dispensing device for moving the end article from the stack of articles in the storage area along a path to a retrieval area, and an article identification device, mounted within the article retrieving apparatus.
  • the article dispensing device moves the article in a predetermined pattern past the article identification device, so as to provide identification of the article being moved.
  • FIG. 1 illustrates an environment for the invention described herein, in the form of an article dispenser, such as a point-of-sale (POS) dispenser.
  • POS point-of-sale
  • Such equipment if embodied as a portable device may comprise and be about the size of a traditional vending machine or as large as a tractor-pulled trailer, and if embodied as a non-portable device may comprise and be embodied as an automated dispensing room or an area located in a permanent structure, such as in a building (aboveground or underground, and with or without interior walls or an enclosing cabinet).
  • a permanent structure such as in a building (aboveground or underground, and with or without interior walls or an enclosing cabinet).
  • FIG. 1 illustrates a perspective view of a vending machine 10, comprising one embodiment for an apparatus which is constructed and operates according to the present invention.
  • Vending machine 10 includes a main cabinet 12 and a front door 14 mounted on a hinge 16 for providing access to the interior of the vending machine for servicing (refilling it with articles, maintenance, etc.).
  • a service door or port could be positioned anywhere on or as a part of cabinet 12.
  • front door 14 is shown in a closed position, forming an enclosure with main cabinet 12, within which various components of vending machine 10 are housed, as explained in more detail below.
  • Front door 14 includes a convox-shaped section 18 adjacent a flat section 20; however, these particular shapes are not necessary to the invention.
  • the convex-shaped section 18 comprises a translucent plastic display panel 18, which typically has brand name and/or logo graphics displayed thereon, and may even include graphics which illustrate the individual articles that are vendible by vending machine 10, as well as the price and/or selection information for the articles.
  • Panel 18 is typically back-light using fluorescent bulbs, not shown.
  • a customer retrieval area 22 is formed in the panel 18 on door 14 so that articles stored therein can be discharged to a user of vending machine 10.
  • a customer display 24 may be a conventional fluorescent or LED display panel for displaying various items of information to a user of machine 10, such as feedback to the user of the selection made, the amount tended, and if the product is sold out or being vended.
  • a bill acceptor slot 26 accepts paper money into a conventional bill acceptor mechanism (mounted inside machine 10 so as to have its user interface portion extend through an aligned opening in flat section 20) for purchasing articles or for making change.
  • a coin insertion slot 28 accepts coins into a conventional coin changer (also mounted inside machine 10 so as to have its user interface portion extend through an aligned opening in flat section 20) for purchasing articles or for making change.
  • a coin return actuator 30 comprises a conventional push-button mechanism for activating a coin return portion of the coin changer mechanism which, upon actuation returns coins inserted by the current user, to a coin return well 32.
  • the coin return portion of the coin changer mechanism also provides change to the coin return well 32 either in response to the purchasing of articles or for making change for paper money or larger coins.
  • a credit/debit card slot 34 accepts a plastic credit/debit card inserted into a conventional card reader mechanism (also mounted inside machine 10 so as to have its user interface portion extend through an aligned opening in flat section 20) for allowing a user to pay for purchases via credit/debit cards.
  • a door lock mechanism 36 enables front door 14 to be secured so that it cannot be opened without a key.
  • display panel 18 may include graphics, as noted above, which indicates the various articles vendible by the machine, as well as their associated price and unique selection number.
  • flat section 20 could include a group of graphic article displays and their associated price.
  • a conventional keypad push-button mechanism 38 is provided for enabling a user to select a desired article from vending machine 10.
  • push-button mechanism 40 could include individual push buttons for each article selection, as well as an associated price display; and even furthermore, a user operated touch screen could replace pushbutton mechanism 40 and display 24.
  • machine 10 also includes a conventional telecommunications component that can be used for authenticating credit card purchases, as well as other uses relating to machine control and reporting the inventory and operational status of machine 10 to a remote location, as more fully described later on.
  • vending machine 10 is illustrated to include the above described user interface components, in a more minimal embodiment of the invention, most, if not all, of these user interface components could be omitted, and the dispenser could in fact be controlled from a remote location, with or without a local payment system.
  • FIG. 2 is front perspective view of the vending machine of FIG. 1 , with the front door open, so as to illustrate the main mechanical and electrical components therein.
  • FIG. 3 is a somewhat idealized version of the main components of the article handling mechanism portion of vending machine 10, and is useful for understanding its general operation. Note, some portions of vending machine 10 are shown in these FIGURES cut away in order to better illustrate the interior components.
  • the right portion of the front of cabinet 12 includes a vertically mounted support panel 202 which is used for mounting most of the user interface components. More specifically, a hinged mounting bracket 204 is mounted on panel 202 and aligned with an opening in door 14 so that the user interface components, such as the selection button keypad 40, coin insertion slot 30, bill acceptor slot 28, coin return 32, and customer display 24, are all accessible to the user from the front side of door 14.
  • the user interface components such as the selection button keypad 40, coin insertion slot 30, bill acceptor slot 28, coin return 32, and customer display 24, are all accessible to the user from the front side of door 14.
  • Mounted on the interior of front door 14 are two fluorescent bulb light sources which emit light for backlighting panel 18.
  • the fluorescent bulb light sources are behind protective covers 206 so as to provide security (vandal protection), which is desirable as a result of the openings in the structure of door 14 which allow for insertion of the fluorescent bulbs.
  • a ballast 208 for the fluorescent bulbs is mounted on the interior of front door 14 .
  • a product delivery chute 210 is unconventional in that it is extremely tall, and therefore serves as a security measure to prevent unauthorized access into the machine by insertion of an arm or other grasping mechanism into the customer retrieval area 22 from outside the machine.
  • a swinging security door is usually found at the top of chute 210, which swings into in a vandal blocking position when the customer pushes in the swinging door at the entrance to the product retrieval area 8.
  • such a swinging security door could be used in conjunction with product delivery chute 210, especially if chute 210 is not as tall as the one illustrated in Figure 2 and also if the product retrieval area 22 is located higher up on machine 10.
  • a conventional bill acceptor mechanism for causing paper money inserted into bill acceptor slot 28 to be drawn into vending machine 10
  • a conventional coin changer supplies coins to coin return slot 34 and is located behind panel
  • a coin guide guides inserted coins into the coin changer
  • a conventional bill validator ascertains proper insertion of paper money into bill acceptor slot 28.
  • a control board 212 comprises a printed circuit board on which circuitry is formed and to which integrated circuit chips are attached.
  • Control board 212 includes a microprocessor that is electrically connected to various sensors, motors, the above described user interface elements, as well as other devices within vending machine 10, to control the operation of vending machine 10 as described more fully later on in conjunction with FIG.4 .
  • a power supply 214 is mounted on panel 202 and supplies power for the electrical components of vending machine 10.
  • a plurality of vertically aligned article storage bins 216 are arranged on the interior floor 217 of cabinet 12, for storing articles 223 to be vended by machine 10.
  • the bins could be arranged to sit on a shelf positioned above the refrigeration system.
  • An opened-top container 219 can be dimensioned to hold a plurality of article storage bins 216 therein, and used, for example to facilitate the simultaneous handling (i.e., removal installation and transportation) of the plurality of bins 216 into/out of the article storage area 215.
  • Container 219 also facilitates rapid and accurate positioning of a plurality of the article storage bins into the storage area of the article handling apparatus.
  • a carriage 218 (which may be more generally referred to as an X-Y or planar positioning mechanism) is coupled to the interior topside of cabinet 12 and adapted for being controllably positioned by the control board portion 212 of machine 10, to a location centered over (so as to be aligned with) the open top-end of a selected one of article storage bins 216.
  • article storage bins 216 are shown to be an ambient environment, bins 216 could in fact the positioned in a refrigerated environment, such as a freezer located in the bottom of storage area 217, and the article transport mechanism enter the bins from a top opening the freezer, such as shown and described in the forenoted U.S. patent 5,240,139 .
  • a refrigerated environment such as a freezer located in the bottom of storage area 217
  • a vertically oriented opening could be used to provide access to the dispensing end of the article storage bins.
  • an air hose 220 is continuous from a point before it's exit from a hose storage area 222 over orthogonally positioned rollers 213, to its free end 221.
  • Free end 221 includes a weighted portion 225 in combination with a bellows extension tip portion 227.
  • article pickup head 224 may comprise only the weighted portion 225, or this portion in combination with a fitting specifically adapted to the type of packages to be dispensed, such as the bellows tip 227 or a compliant tip without a weight.
  • Hose 220 has one end coupled to a source of negative air pressure, i.e., suction, which source of suction comprises in the preferred embodiment a blower motor 226, and a free end coupled to the article pickup head 224.
  • a source of negative air pressure i.e., suction
  • suction which source of suction comprises in the preferred embodiment a blower motor 226, and a free end coupled to the article pickup head 224.
  • the word continuous is intended to mean a hose which is connected and acts between it's end points, in order to accomplish the functions required by it, as a unitary/single hose.
  • An air hose portion 235 provides suction from blower motor 226 to one port of an air junction box 229, while continuous hose 220 is connected to a second port of air junction box 229.
  • Air junction box 229 included at a top portion of hose storage area 222, includes an airflow sensor and vacuum breaker assembly.
  • the airflow sensor is used to develop a signal which is applied to the controller of the vending machine and is representative of the airflow through air hose 220.
  • the vacuum breaker assembly is used to quickly bring the air pressure in hose 220 to the ambient pressure, thereby facilitating a "quick-release" of an article transported by the article pickup head, into the dispensing chute 210. It is noted that a quick release of the products does not have to occur at the top of dispensing chute 210, and in the event that it is desirable to avoid subjecting the article to forces which result from jarring or dropping, the article pickup head could proceed to the bottom of the dispensing chute 210 before providing.the quick release of the article.
  • the airflow sensor arrangement may comprises a two-part switch, a first part includes a reed switch mounted on a top portion of box 229, and a second part includes a magnet mounted at the free end of a swinging arm mounted inside box 229. As the arm swings inside box 229 due to changes in airflow, the switch is "toggled", thereby indicating changes in airflow. The use of this airflow signal will be described in greater detail later.
  • a novel hose positioning arrangement is provided for aligning carriage 218 with a selected one of bins 216.
  • This alignment is accomplished in the front/back (Y) direction using a front/back linear slide 228 (shown in a cut away view) mounted to an "L" shaped front/back beam 230 so that carriage 218 can be controllably positioned therealong using slide 228.
  • a bottom edge portion of beam 230 includes a rack portion 232 and carriage 218 includes an electric motor 233 and gear (not shown) which engages rack portion 232.
  • Application of forward and reverse motor control signals from control board 212 to motor 233 causes carriage 218 to be driven in the front/back directions.
  • Alignment of carriage 218 in the left/right (X) direction is accomplished in a similar manner, using a left/right linear slide 234 which slidably couples the top side of front/back beam 230 to the underside of each of spaced apart left/right beams 236a and 236b.
  • Beams 236a and 236b are rigidly attached to the inside top portion of cabinet 12.
  • the positioning mechanism portion comprising beams 236a and 236b could be embodied as a support bracket having opposed flanged edges, and linear slides 234 could each comprise a bracket fixed to beam 230 and including a set of orthogonally positioned rollers for engaging the orthogonal sides of a respective one of flanged edges 239a or 239b.
  • carriage assembly 218 is responsible for precisely positioning pickup head 224 in each of the X, Y and Z directions. More specifically, as shown in FIG.s 5 and 6 , carriage 218 includes a roller arrangement 502 which comprises three orthogonally positioned rollers 504 at the point where hose 220 enters carriage 218, for redirecting the movement of hose 220 from a substantially horizontal direction along the top interior portion of machine 10 (i.e., in the X,Y direction), to a direction perpendicular thereto (i.e., in the Z direction).
  • roller arrangement 502 which comprises three orthogonally positioned rollers 504 at the point where hose 220 enters carriage 218, for redirecting the movement of hose 220 from a substantially horizontal direction along the top interior portion of machine 10 (i.e., in the X,Y direction), to a direction perpendicular thereto (i.e., in the Z direction).
  • hose drive mechanism which may comprise a set of conventionally operated "pinch rollers"506 driven by a reversible motor 508 via gear set 510 (which in the illustrated embodiment are mounted in carriage 218, but in a further embodiment motor 508/rollers 506 (or some other drive mechanism, such as an articulated arm, could be mounted so as to act somewhere else along the length of hose 220) is used for driving pickup head 224 into/out of the selected bin 216 in order to retrieve articles stored therein.
  • hose 220 travels in the same X,Y plane that carriage 218 travels, facilitates a compact hose positioning and drive mechanism embodiment for the present invention. Furthermore, since movement of the carriage is responsible for supplying most of the force needed to withdraw hose 220 from storage area 222" the Z drive motor is only needed to drive the hose for causing its free end to travel into/out of bins 216 for article retrieval. It is noted that the pinch rollers 506 should comprise a soft rubber material so as to provide a good friction contact to hose 220, and if the hose 220 is corrugated, rollers 506 could have corresponding/matching corrugations.
  • a bin holder 260 shown in FIG. 2 , comprising a pair of rectangular brackets secured in a spaced manner to opposed interior side walls of cabinet 12, is used to maintain the bins situated therebetween in a predetermined position relative to the interior of the vending machine cabinet This is required in view of the pre-programming of control board 212 which controls the robotic structure for retrieving a selected article from one a selected one of bins 216.
  • a telescoping guide mechanism 550 for ensuring that when picker head 224 is lowered by the drive mechanism in carriage 218 into the storage area, it drops into the desired one of bins 216.
  • the 90° turn in the direction of the hose which takes place in carriage 218 can form a significant "kink" in hose 220.
  • the kink may cause picker head 224 to swing as the hose kink moves past drive rollers 506.
  • guide mechanism 550 is provided and comprises a guide plate 552 affixed to the end of two sliding support bars 554. As shown more clearly in Figure7 , support bars 554 slide through holes in a plastic (PVC, i.e., poly vinyl chloride) block 556 secured to a wall portion of carriage 218.
  • PVC poly vinyl chloride
  • Plate 552 is constructed so as to have a hole in the center thereof which is dimensioned to be slightly greater than the diameter of the body portion of picker head 224, yet less than the diameter of a shoulder portion thereof.
  • support rods 554 allow support plate 552 to drop, due to gravity, as the same speed as picker head 224 is lowered away from carriage 218.
  • plate 552 no longer moves away from carriage 218 and the hole in the center thereof merely provides guidance for the remainder of the descent of picker head 224 into the selected bin 216.
  • picker head 224 As picker head 224 is retracted from the bin, after having a package secured thereto due to the suction force created within hose 220, picker head 224 eventually contacts guide plate 552 and then for the remainder of its upward travel, retraction of hose 220 also provides for retraction of guide plate 552.
  • support rods 554 comprise rods having a threaded hole at each end, in which a machine screw can be inserted. At the top portion of rods 554 the head of the screw forms a shoulder portion that prevents rods 554 from falling completely through the holes in block 556, and at the bottom of rods 554 the screws secure plate 552 to the rods.
  • plate 552 includes a protective grommet?? about the hole therein, for preventing damage and reducing wear of hose 220 as it travels through plate 552. It is noted that the height of grommet ?? is preferably greater than the spacing between adjacent turns of the spiral support structure of hose 220.
  • hose 220 is preferable constructed of a strong, flexible spiral portion functioning as the spine to form the shape of the hose, formed co-extensively with a flexible and air-tight plastic material which spans adjacent turns of the spiral portion.
  • hose 220 is formed of a continuous material from its connection to the source of suction at one end to the pickup head 224 at its other end, means are necessary for providing hose storage and/or retraction during travel of the pickup head 224 in the X, Y and Z directions, as appropriate during the article dispensing operations.
  • Hose storage area 222 has a cross-sectional area which is slightly greater than the cross-sectional area of the hose loop formed therein. Walls 246 and 248 are shown partially cut-away so as to illustrate a gravity feed self-retracting loop tensioner/ retraction mechanism 250 formed in hose 220.
  • Loop tensioner 250 is constrained for movement within hose storage area 222, and made somewhat self-retracting by comprising a rolling weight 252 having a groove 253 along its periphery in order to provide constant centering of the weight within hose storage area 222 and for providing a constant "loop forming" tension on hose 220. Furthermore, centering of the grooved rolling weight 252 within hose storage area 222 results in centering of hose 220, thereby preventing hose 220 from rubbing with the walls of hose storage area 222 during X, Y and Z repositioning of pickup head 224.
  • rolling weight 252 is dimensioned so as to be slightly larger than the diameter of hose 220 and the width dimension of hose storage area 222 is dimensioned to be only slightly larger than the width dimension of rolling weight 252.
  • the specific amount of weight used for rolling weight 252 is a matter of design choice, and depends upon various factors, such as the weight of the articles to be moved, the strength of the motors used to drive the hose in the Z direction, etc.
  • this gravity-based retraction/ hose storage technique meets the storage requirements needed for both the X and Y movements of carriage 218 (left/right and frontlback), as well as for the Z movement of pickup head 224.
  • this gravity-based retraction/ hose storage technique would work equivalently well in an embodiment wherein the robotic hose positioning mechanism used a rotary type device (R, ⁇ ), an articulated arm, telescoping or scissor system, or other technique.
  • the illustrated gravity-based retraction/ hose storage technique is not necessary for the present invention, and in fact a fully or partially motorized retraction technique could also be used.
  • an article identification (ID) device 254 mounted within cabinet 12.
  • ID article identification
  • a specific type of article ID device is not required for the present invention, and depending upon system constraints, such a device may comprise, for example, a bar code scanner or other optical image/pattern recognition system, or even a non-optical system, such as a radio frequency identification (RFID), or magnetic-based system mounted within cabinet 12. for uniquely identifying and confirming that the article being dispensed is in fact the article that was selected.
  • RFID radio frequency identification
  • article ID device 254 is mounted within cabinet 12 at a relatively fixed location, the mounting being such that some controlled movement in the orientation of article ID device 254 may be facilitated, in order to help ensure a good "view" of the article being transported, and a high confidence of the transported articles being identified.
  • One way to provide such controlled movement for ID device 254 would be to mount it on a piezoelectric substrate, and control board 212 could provide a voltage to the substrate so as to shift the "view" of ID device 254. It is noted that by using an appropriately positioned article ID device 254, only a single article ID device 254 is needed. This is particularly useful for a robotic type dispenser, since the robotic apparatus can controllably position, and re-position if necessary, the article in the vicinity of the article ID device 254, thereby helping ensure a reliable ID of the article.
  • FIG 6 illustrates a further preferred location for mounting product ID device 254, namely on the inside edge of hinged bracket 204, and just above the top of bins 216.
  • product ID device 254 could also be useful in dispensing apparatus using other types of robotic positioners, such as a rotary type device (R, ⁇ ), an articulated arm, telescoping or scissor system, etc., as well as one which travels in a non-planar, such as curvilinear, direction.
  • hose 220 and carriage 218 are shown in the illustrated embodiment, the invention described herein could also be used in a dispensing apparatus/article handler of the type having multiple storage areas and/or robotic article handling mechanisms, such as two robotic mechanisms (both positioned vertically or horizontally or mixed, and one vertically and one horizontally) each one serving a different storage area.
  • robotic article handling mechanisms such as two robotic mechanisms (both positioned vertically or horizontally or mixed, and one vertically and one horizontally) each one serving a different storage area.
  • each can be tailored for a particular operation. For example, one may have a relatively large diameter pickup head and use a high airflow/modest suction vacuum supply device, while the other may have a relatively small diameter pickup head and use a low airflow/high suction vacuum supply.
  • a multiple storage-area arrangement may have a single article handler of the type previously noted serving adjacent storage areas.
  • each area may be for storing stacks of articles aligned in the same direction as in the other areas.
  • One storage area may have an ambient environment, while the other storage areas may be cooled, e.g., one area being refrigerated and one area being frozen.
  • This arrangement may typically find use for dispensing in a compact, reliable and efficient vending structure: salty snacks (such as bags of potato chips) from the ambient storage area, cooled drinks (such as soda) from the refrigerated storage area, and frozen snacks (such as ice cream) from the frozen storage area.
  • an arrangement of this type may be particularly advantageous in that the frozen compartment can be used for maintaining the quality of the stored articles until they are close to being needed for dispensing, as determined by an intelligent controller. At a predetermined appropriate time before dispensing, a certain amount of articles can be moved from the frozen area to the refrigerated area.
  • the third storage area is in fact a temporary storage area which is used for individually heating/cooking the articles, such as, e.g. frozen pizzas, using an oven or microwave.
  • the refrigerated and/or frozen storage areas can include thermal separators at their top portions, such as an air curtain or sliding thermal panels.
  • Such separation is particularly advantageous not only for the obvious reasons relating to thermal efficiency and protection of the mechanical and electronic portions of the apparatus from extreme and rapid temperature changes, hut also tor assisting/facilitating reliable article identification, by positioning the article identification device(s) outside the refrigerated environment.
  • An arrangement may have the single article handling mechanism services two horizontally aligned in article storage areas, a backspace, arca being an ambient environment and another area being a refrigerated environment.
  • the article handling mechanism 606 can be constructed in a manner such as previously described using support beam 230 and carriage 218 so that mechanism can "live” in the ambient area, and travel into the refrigerated area through a swinging door as needed.
  • the two areas can each include their own article ID device or share a common ID device.
  • a rapid article dispenser may have two horizontally displaced storage areas. Although separate hoses and hose positioning mechanisms may be used, they may share a single source of suction e.g., blower motor, airflow sensor and vacuum breaker.
  • a single hose, hose positioning mechanism and hose storage area could be used in a further embodiment where the single hose services more than one article storage area, such as a refrigerated and non refrigerated storage area, wherein support beam 230 and carriage 218 is positionable between the two storage areas having different ambient environments via a door mechanism.
  • each robotic article handling mechanism could have its own article ID device, or they could share a single article ID device.
  • a vending machine may have a single article handling mechanism with dual customer interface areas (each including a product selection apparatus such as a keypad or touch screen, payment system, and product retrieval door), for example, one on the left side and one on the right side, with a common graphics display therebetween.
  • This machine can service two purchasers at substantially the same time since customer selections and payment typically take a substantial amount time compared to the actual time needed for the dispenser to deliver the selected product.
  • a cabinet in a further one of such arrangements includes therein an upper area which is non-refrigerated (and may even be heated) and a lower area which is refrigerated (and may even be divided into, c. g., two additional sections, one area being frozen and another area being merely cooled).
  • This arrangement is particularly advantageous since hot air tends to rise and cool air tends to sink.
  • one storage area may be oriented for vertical storage of products and the other one, or even multiple ones, arranged for horizontal storage. In this case a separate hose, hose positioning mechanism and hose storage area may be required for the differently oriented storage areas.
  • the article handling mechanism can have other configurations such as the forenoted telescopic tubing, scissors, or R, theta arrangement.
  • the articles can be consumer goods, such as office supplies, printer cartridges etc.
  • blower motor 226 provides a relatively high volume of airflow but a relatively modest negative air pressure.
  • blower motor 226 could comprise a vacuum pump, so as to provide a much more substantial degree of negative air pressure, but, due to size and cost limitations, a correspondingly reduced amount of airflow.
  • the diameter of the air hose 220 would be reduced from the diameter illustrated in FIG's 2 and 3. which may be particularly important in some applications of the present invention .
  • blower motor 226 comprises a vacuum pump
  • blower motor 226 could be used alone or in combination with a storage tank coupled to the suction hose via a valve and air hose, in order to provide a greater volume of airflow.
  • a compressor could be used in combination with a venturi device to create a vacuum.
  • Support beams 236a and 236b may comprise a support plate having two outwardly facing, i.e., opposed, L-shaped rails, along its edges.
  • the function of slides 234 could be accomplished by fixing a pair of brackets to opposed ends of beam 230, each bracket including a pair of spaced apart,and inwardly facing rollers which engage and follow the opposed rails on the support plate.
  • the spaced apart and inwardly facing rollers could each comprise a set of rollers positioned to be angled 90 degrees with respect to each another, so as to engage or follow the two orthogonal surfaces of the L-shaped rails. Such arrangement may result in a coupling of carriage 218 to beam 230 which needs less adjustment for proper operation..
  • the robotic hose positioning mechanism can position carriage 218 for movement in a vertical plane which is substantially flat (i.e., in the X/Z or Y/Z plane) or in fact a vertical curvilinear plane.
  • the robotic hose positioning mechanism may include a rotary device (R, ⁇ ) of the type including an I beam of fixed length (or telescopic sections), for establishing the "R" movement of the gripper/pickup head, which pivots for establishing the " ⁇ " movement
  • the robotic hose positioning mechanism may include an articulated arm or scissor system, or other technique.
  • FIG. 4 illustrates a functional block diagram of the general operation of the various aspects of the invention described herein, as embodied in an article dispenser of the type comprising, for example, vending machine 10.
  • a control system 400 including a microprocessor 402 and associated memory circuits 404, is constructed on control board 212. Control system 400 may also include the electronic parts of other portions of vending machine 10, as appropriate.
  • Memory circuits 404 include ROM for storage of operating programs (embedded software, as well known, for accomplishing the described herein control of vending machine 10), as well as RAM cache for temporary storage of operational data during system operation as well as other data as may be needed.
  • Control system 400 is responsive to user operation of the user payment and selection system 406 (including the coin and bill mechanism 28 and 30 and the selection buttons 40 of FIG.
  • control system 400 For operating the user interface and article handling apparatus of vending machine 10 so as to dispense the article desired by a user. More specifically, upon proper payment for a selection made by the user using payment and selection system 406, control system 400 operates the X/Y (left/right and front/back) drive motors 233 and 243 so as to position pickup head 224 to be in alignment with a bin 216 which holds the article selected by the user. Control system 400 then engages a hose drive motor 508 (Z-motor) mounted within and carried by carriage 218, so that hose 220 is driven in a direction towards the top article in the aligned bin.
  • a hose drive motor 508 Z-motor
  • control system 400 activates blower motor 226 so as to provide lifting suction at pickup head 224.
  • control system 400 causes hose drive motor 410 to reverse its direction so as to retract hose 220 from the aligned bin 216 and thereby lift out from the bin 216 the selected article.
  • Carriage 218 is then driven to a position in alignment with the article delivery chute 210.
  • control system 400 Upon sensors 412 sensing alignment of carriage 218 with chute 210 (in this case sensor 412 may comprise a reed switch mounted on a front wall of the cabinet, and a magnet mounted at a leading edge of carriage 218), control system 400 turns off blower motor 226 and the resulting loss of vacuum causes the selected article to drop into the customer retrieval area 22.
  • hose 220 can be driven to the bottom of chute 210 before the article is released.
  • position sensor 412 may include the airflow sensor of junction box 229, or in a further embodiment, comprise a mechanically operated plunger-type position sensor associated with pickup head 224. Even furthermore, position sensors 412 may also include a reed switch mounted on a front wall of the cabinet, and a magnet mounted at a leading edge of carriage 218.
  • the control system since the control system keeps track of the movement of hose 220 and carriage 218(for example, by sensing pulses from a shaft encoder or other distance measuring device on each of their respective drive motors), the signal generated by the airflow sensor at the time carriage 218 reaches the virtual home can also be used as a check to ensure that control system 400 accurately counted the motor drive pulses, and can re-calibrate the positioning system based on the virtual home, if necessary.
  • position sensor 412 may include the airflow sensor of junction box 229, or in a further embodiment, comprise a mechanically operated plunger-type position sensor associated with pickup head 224. Even furthermore, position sensors 412 may also include a reed switch mounted on a front wall of the cabinet, and a magnet mounted at a leading edge of carriage 218.
  • Accurate control of energization of blower motor 226 is particularly advantageous in the event that the inside of the cabinet, or a portion thereof, is refrigerated, since accurate control would decrease the amount of refrigerated air being displaced by blower motor 226.
  • the microprocessor 402 will energize blower motor 226 as the pickup head 224 approaches the desired article, and in fact only when it is in the immediate proximity of the desired article (and not earlier), due to control system 400 maintaining updated information about the height of the stack of articles in each bin 216. The height is assumed to be at a predefined level upon article refilling of the vending machine i0 by the operator.
  • Control system 400 may confirm the assumed height by moving the pickup head 224 at a reduced speed towards an article at the top of a bin 216 on the first retrieval attempt after the storage area has been refilled, and then compare the assumed height to the actual height.
  • Memory 404 can be pre-programmed with specific article heights in advance, or the heights can be learned by control system 400 by comparison of prior vend heights in each bin. Once the height of the top article is known, control system 400 will be able to always know the height of the next "top" article in that bin. Subsequently, control system 400 may cause the pickup head 224 to approach the articles in that storage area at a higher speed, and only slow down when in the immediate proximity of the next "top” article in that bin. The technique to slow down upon the pickup head 224 approaching the next article also helps ensure that the stored articles will not be damaged by the pickup head 224.
  • blower motor 226 a simpler way of controlling operation of blower motor 226 and the approach of pickup head 224, without knowing the specific article height, would be to turn on the blower motor 226, or slow down the pickup head 224 just prior to the learned stack height of the prior vend.
  • control system 400 automatically defaults to using the above height detection technique since it can be assumed that the operator may have changed the product load levels and consequently the product heights in each bin.
  • blowergization of the blower motor or other suction creating device is meant to be equivalent to the appearance of a prompt package securing force, i.e., suction, at the pickup head 224.
  • a communication system 414 is connected to control system 400 so as to provide article inventory and vending machine operation information to a remote location, as well as to allow for control of the operation of the vending machine from a remote location.
  • communication system 414 may include a connection to means for making a wire-line and/or wireless transceiver interface through which a communication link with a remote computer can be established. Additionally, the communication system 414 may communicate with a plurality of other similarly connected vending machines in the same general area and communicate therewith using the wire-line interface or wireless communication.
  • communication system 414 can provide for communication with multiple vending machines and/or a local server/controller, in a local site along a LAN (local area network), LAWN (a local area wireless network) or a WAN (wide area network).
  • the remote computer may comprise a database which receives and/or accumulates the operational data from one or more vending machines, which data is then accessible (via, e.g., the Internet, using a wired or wireless connection) using appropriate encryption, to others, such as route drivers, machine operators, machine owners, product suppliers, etc.
  • the remote site may give feedback to the vending machines, such as authorization information, which can control its operation, such as allow its continued operation.

Claims (13)

  1. Appareil de récupération d'articles, comprenant :
    une zone de stockage (215) pour stocker les articles dans des bacs ;
    un dispositif de saisie et d'extraction d'article (226, 408, 410) pour déplacer un article depuis la zone de stockage, le long d'une trajectoire, jusqu'à une zone de récupération ; et
    un dispositif d'identification d'article (254), inclus au sein de l'appareil de récupération d'articles et actionné pour fournir une identification d'un article tandis que l'article est toujours saisi par le dispositif de saisie et d'extraction d'article, et caractérisé en ce que le mouvement du dispositif de saisie et d'extraction d'article change la position relative entre l'article et le dispositif d'identification d'article de manière à faciliter ladite identification de l'article par le dispositif d'identification d'article.
  2. Appareil selon la revendication 1, dans lequel le dispositif de saisie et d'extraction d'article est actionnable pour déplacer l'article suivant une configuration prédéterminée jusqu'à ce que le dispositif d'identification d'article ait réussi à identifier l'article étant déplacé.
  3. Appareil selon la revendication 1 ou 2, dans lequel le dispositif d'identification d'article (254) comprend une optique pour l'identification de l'article.
  4. Appareil selon la revendication 3, dans lequel le dispositif d'identification d'article (254) comprend :
    soit un lecteur de codes à barres,
    soit un système de prise d'images, tel qu'un appareil photo ou une caméra, analogique ou numérique, couplé à un dispositif d'analyse d'images qui reconnaît des images prédéterminées (couleur/motif ou texture, etc.),
    l'un ou l'autre desdits dispositifs d'identification d'article fournissant ainsi des identifications d'article durant l'opération de distribution.
  5. Appareil de distribution d'articles, comprenant :
    un appareil de récupération d'articles selon les revendications 1, 2, 3 ou 4, dans lequel
    le dispositif de saisie et d'extraction d'article comprend une extrémité (221) pour extraire sélectivement un article de la zone de stockage, et
    un mécanisme de positionnement (408) couplé au dispositif de saisie et d'extraction d'article et répondant à des signaux de commande pour positionner l'extrémité du dispositif de saisie et d'extraction d'article en alignement avec un article sélectionné saisir et extraire de la zone de stockage, et
    un mécanisme d'entraînement (410) couplé au dispositif de saisie et d'extraction d'article pour déplacer son extrémité dans une direction alignée avec l'article sélectionné à saisir et extraire de la zone de stockage, et
    un appareil de commande et d'interface utilisateur (400) pour permettre à un utilisateur de l'appareil de distribution de déclencher une opération de distribution d'article, et provoquer un mouvement contrôlé du dispositif de saisie et d'extraction d'article et du mécanisme de positionnement de manière qu'un article sélectionné soit extrait de la zone de stockage d'articles et déplacé vers une zone de distribution de l'appareil de distribution.
  6. Appareil selon la revendication 5, dans lequel le mouvement contrôlé du dispositif de saisie et d'extraction d'article et du mécanisme de positionnement amène le dispositif de saisie et d'extraction d'article à effectuer une configuration de déplacement dans la zone du dispositif d'identification d'article de manière à faciliter ladite identification de l'article par le dispositif d'identification d'article tandis que l'article se déplace de la zone de stockage d'articles vers la zone de récupération.
  7. Appareil selon la revendication 5 ou 6, dans lequel l'appareil de commande et d'interface utilisateur est actionnable pour utiliser l'identification d'article pour rendre l'appareil totalement ou partiellement inopérant.
  8. Appareil selon la revendication 7, dans lequel l'appareil de commande et d'interface utilisateur est actionnable pour empêcher la distribution d'articles depuis au moins une partie de la zone de stockage d'articles.
  9. Appareil selon la revendication 7 ou 8, dans lequel l'impossibilité d'utiliser l'appareil est utilisée comme mécanisme de contrainte pour une ou plusieurs des raisons suivantes :
    encourager un opérateur ou un propriétaire de l'appareil à déterminer des règles, l'encourager à rapporter à une autorité centrale les données concernant les ventes et le stock,
    encourager une personne approvisionnant l'appareil en articles à adhérer à des planogrammes prédéterminés de stockage d'articles (présentation d'articles appropriée),
    inciter ou motiver la personne approvisionnant l'appareil en articles à adhérer à des planogrammes prédéterminés de stockage d'articles.
  10. Appareil selon la revendication 7, 8 ou 9, dans lequel la zone de stockage est agencée pour stocker les articles le long d'une pluralité d'axes longitudinaux et l'appareil de commande et d'interface utilisateur est actionnable pour interrompre ou désactiver la distribution d'articles en alignement avec un ou plusieurs des axes longitudinaux.
  11. Appareil selon la revendication 10, dans lequel la désactivation de ladite distribution est surmontée, ou la distribution est revalidée, en réponse à :
    l'entrée dans la partie de commande de l'appareil de commande et d'interface utilisateur d'un signal d'autorisation codé, ou
    l'écoulement de la durée prédéterminée.
  12. Appareil selon l'une quelconque des revendications précédentes, dans lequel le dispositif de saisie et d'extraction d'article comprend un dispositif d'aspiration (220, 226, 224) pour saisir un article par aspiration.
  13. Appareil selon l'une quelconque des revendications 1 à 11, dans lequel le dispositif de saisie et d'extraction d'article comprend une pince mécanique ou un dispositif électromagnétique pour saisir un article.
EP01939400A 2000-05-23 2001-05-23 Procede et appareil servant a inclure une identification de produits dans un dispositif de distribution de produits Expired - Lifetime EP1360658B1 (fr)

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US20636300P 2000-05-23 2000-05-23
US206363P 2000-05-23
PCT/US2001/016853 WO2002019285A2 (fr) 2000-05-23 2001-05-23 Procede et appareil servant a inclure une identification de produits dans un dispositif de distribution de produits

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EP08010434A Withdrawn EP1986165A1 (fr) 2000-05-23 2001-05-23 Procédé et appareil pour inclure l'identification d'un article dans un dispositif de traitement d'articles
EP01939400A Expired - Lifetime EP1360658B1 (fr) 2000-05-23 2001-05-23 Procede et appareil servant a inclure une identification de produits dans un dispositif de distribution de produits
EP01950253A Expired - Lifetime EP1287503B1 (fr) 2000-05-23 2001-05-23 Procede et appareil de positionnement d'un dispositif de manipulation d'articles
EP01953380A Withdrawn EP1287504A1 (fr) 2000-05-23 2001-05-23 Proc d et dispositif de positionnement d'un manipulateur d'articles
EP01945986A Withdrawn EP1313654A2 (fr) 2000-05-23 2001-05-23 Procede et appareil de stockage d'articles s'utilisant avec un dispositif de manipulation d'articles
EP01954588A Expired - Lifetime EP1287502B1 (fr) 2000-05-23 2001-05-23 Procede et dispositif de rangement de flexible dans un appareil manipulant des articles

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EP01953380A Withdrawn EP1287504A1 (fr) 2000-05-23 2001-05-23 Proc d et dispositif de positionnement d'un manipulateur d'articles
EP01945986A Withdrawn EP1313654A2 (fr) 2000-05-23 2001-05-23 Procede et appareil de stockage d'articles s'utilisant avec un dispositif de manipulation d'articles
EP01954588A Expired - Lifetime EP1287502B1 (fr) 2000-05-23 2001-05-23 Procede et dispositif de rangement de flexible dans un appareil manipulant des articles

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JP (1) JP2004524595A (fr)
KR (5) KR100830081B1 (fr)
CN (8) CN1243329C (fr)
AT (3) ATE412955T1 (fr)
AU (9) AU7583601A (fr)
CA (5) CA2410047A1 (fr)
DE (3) DE60136352D1 (fr)
DK (3) DK1287502T3 (fr)
ES (3) ES2316455T3 (fr)
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ATE412955T1 (de) 2008-11-15
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