EP2006812A1 - Appareil pour le stockage et l'extraction sélective d'articles et distributeur doté dudit appareil - Google Patents

Appareil pour le stockage et l'extraction sélective d'articles et distributeur doté dudit appareil Download PDF

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Publication number
EP2006812A1
EP2006812A1 EP07270039A EP07270039A EP2006812A1 EP 2006812 A1 EP2006812 A1 EP 2006812A1 EP 07270039 A EP07270039 A EP 07270039A EP 07270039 A EP07270039 A EP 07270039A EP 2006812 A1 EP2006812 A1 EP 2006812A1
Authority
EP
European Patent Office
Prior art keywords
tube
article
carriage
vending machine
suction
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.)
Granted
Application number
EP07270039A
Other languages
German (de)
English (en)
Other versions
EP2006812B1 (fr
Inventor
Steven Faes
Jason Rawding
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.)
SHOPROBOTIC LTD
Original Assignee
Teknovation Ltd
TEKNOVATION Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Teknovation Ltd, TEKNOVATION Inc filed Critical Teknovation Ltd
Publication of EP2006812A1 publication Critical patent/EP2006812A1/fr
Application granted granted Critical
Publication of EP2006812B1 publication Critical patent/EP2006812B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • G07F11/62—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
    • 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

Definitions

  • the apparatus generally relates to apparatus for storing and selectively retrieving articles and to automatic vending machines including such apparatus. More particularly the present invention relates to improvements in apparatus for retrieving and dispensing of products using a vacuum type product pulling/pushing mechanism.
  • US2003/0034354A1 discloses a vending machine which uses a vacuum picker to withdraw product from within an array of locations on to a movable carriage, and from there on to a transfer mechanism, such as a belt conveyor.
  • the vacuum is provided through a flexible hose from a central suction pump.
  • apparatus for storing and selectively retrieving articles comprises a vertical array of storage locations each having a horizontal surface on which articles may rest and along which articles may be slid, a carriage mounted for movement horizontally and vertically across the face of the array so as to be selectively positionable at any one of the locations, the carriage having mounted thereon a telescopic suction tube, suction tube drive means associated with the tube for selectively extending and retracting the tube, and suction means connected to the tube whereby the tube can be extended to engage a selected article in a first one of said locations, the suction means being selectively operable to hold the article to the end of the tube as the tube is retracted, thereby withdrawing the article from said location and on to the carriage, the carriage then being movable to another of said locations at which the tube may be extended to discharge the article from the carriage into said other location, characterised in that the suction tube drive means comprises an elongate flat strip capable of being coiled on itself but adopting a linear configuration when un
  • the strip is suitably a thin spring steel which can be rolled up on itself, but which when unrolled assumes a straight, semi-rigid form.
  • a thin spring steel which can be rolled up on itself, but which when unrolled assumes a straight, semi-rigid form.
  • An example of such a material is the tape in a steel tape measure.
  • An alternative material would be a plastics tape having a shape memory such that it can be rolled or coiled, but unrolls straight with sufficient rigidity to drive and retract the suction tube and attached product, sliding the product over the surface within its location and on to the carriage, and sliding off the carriage and on to the surface of the delivery location. In this way, the suction tube will not have to carry the full weight of the product, but will simply have to overcome friction to slide the product. It may therefore be desirable to provide low friction surfaces in these locations to assist this process.
  • the vacuum operated product pick mechanism may be further improved by incorporating positive stops on the telescoping vacuum tubes, a friction drive mechanism for extending and retracting a coiled steel spring member. Still further improvements relating to the pick mechanism include the use of adjustable or self adjusting vacuum switch for product detection and a position switch to determine the proper start/stop location of the vacuum tubes. Further improvements include vertical support means to maintain the proper height of the vacuum tubes when they are extended, particularly in the full extension mode. Yet again further improvements include control software that recognizes a vacuum loss and can retry the attempted product move.
  • Still further improvements include a soft (no drop) delivery system that is capable of handling varying weight objects and control software to allow for smooth transition form the transfer surface to the delivery surface.
  • the delivery of the product can be can be optimized for ergonomics, particularly for a physically disabled person.
  • Figure 1 shows a vending machine 1 with a cabinet 2 which could, for example, form an addition to an existing shop front, with the rear of the cabinet being accessible from within the shop and the front 3 of the cabinet facing into the street or shopping mall.
  • the cabinet 2 includes a product display panel or window 4, which is transparent so that goods for sale by the machine may be viewed by customers in the street, a product selection and payment panel 5 and a product delivery door 6.
  • the front 3 of the cabinet may be a door giving access to the interior of the cabinet for loading and maintenance purposes.
  • the cabinet could alternatively be a freestanding cabinet in conventional manner, and that the front panel may in some circumstances be opaque, for example being formed of steel for additional security for the contents of the machine.
  • the product selection and payment panel 5 may include a display screen, for example a liquid crystal display (LCD) screen which may be touch-sensitive to permit selection of displayed options by the customer.
  • the payment means included in the machine may be, for example, a conventional coin mechanism, a note acceptor, a credit card terminal, or any combination of these.
  • Figure 2 illustrates the vending machine 1 with one section of the product locations removed to show the product pick mechanism behind.
  • a series of product trays 7a-7b Directly behind the transparent product display panel 4 resides a series of product trays 7a-7b.
  • the product trays 7a-7b are shown with a plurality of products 8a-8c stored on them.
  • the trays 7a-7b are arranged in such a way as to allow the products 8a-8c to be viewed from the customer in a clear and easily recognizable manner.
  • the product labelling 27a-c can be viewed in a normal reading orientation by the customer.
  • the products 8a-8c can be loaded into the trays 7a-7b directly from the front of the vending machine 1 when the front door 3 is opened.
  • FIG. 3 shows product pick mechanism.
  • An x-y drive mechanism 9 consists of a fixed vertical rail 9a and a horizontal rail 9b mounted to slide relative to the vertical rail.
  • a motorized elevator 10 creates motion in the y or vertical direction and a motorized carriage 11 is mounted on the horizontal rail 9b for creating motion in the x or transverse direction. Attached to the carriage 11 is a telescoping vacuum pick mechanism 12 which is described in detail below.
  • a telescoping vacuum pick mechanism 12 consists of a vacuum chamber 13 which is rigidly mounted to the carriage 11.
  • the vacuum chamber 13 is attached to a series of telescoping tubes 16a -16g.
  • Tube 16a is rigidly affixed to the vacuum chamber 13 and the vacuum chamber 13 is connected to a vacuum source, hereinafter described with reference to Figure 12 .
  • a vacuum pressure switch 14 is connected to the vacuum chamber 13.
  • a snap action or contact switch 15 is connected to the carriage 11 and has a lever 29 that remains in contact with the suction tube 16g when the tube is in the fully retracted position.
  • a support plate 28 is rigidly attached to the end of suction tube 16g providing support when the tube is fully extended as described below. The tube without the support plate 28 could sag over the length of its extension causing a pick failure.
  • a motor 17 is affixed to the carriage 11 and connected to a friction drive roller 18 by means of gears 19a -19d, drive shaft 20.
  • a flat spring coil 21 is compressed between the friction drive roller 18 and an idler roller 23.
  • the end of the flat spring coil 21 is rigidly connected to the end of tube 16g.
  • Also connected to the tube 16g is an elastic suction cup 24.
  • the gears 19a-19d cause the friction drive roller 18 to rotate imparting a friction drive force to the flat coil spring 21 and imparting a force on the end of the tube 16g causing it to move in a linear direction and telescope outwards increasing the length of the telescoping pick mechanism 12.
  • the tubes 16a-16g have external stepped rings 25a-25f rigidly attached to them.
  • the tubes also have an external stepped ring 26a-26e.
  • the motor 17 is reversed the forces are then applied in an opposite direction causing the tubes 16b-16g to collapse.
  • stop rings 22a-22e are rigidly attached to tube 16b-16f.
  • the stop rings 22a-22f impart a force to the adjacent tube causing that tube to be pulled back.
  • the stop rings 22a-22f also prevent the tubes from over travel in the reverse mode and prevent concentric disengagement of the tubes.
  • the tubes 16a-16e are contracted in such a way as to provide an air path for providing negative pressure (vacuum) at the elastic suction cup 24.
  • the telescoping tubes 16a-16g are shown in a full extended position. It should be noted that the telescoping tubes 16a-16g can be extended to any distance between the fully retracted position and the fully extended position, thereby allowing for the retrieval of a product or multiple products in any of the storage locations in the array.
  • the support plate 28 is shown making contact with a product tray 7a-7b, effectively keeping the extended height of the suction cup 24 at the same height as if in the fully retracted position.
  • the articles 27 are positioned directly behind the window 4 at the front of the machine, and the pick mechanism is positioned at the rear of the machine to pull the articles off the tray 7 from the rear of the line of articles on the tray, so that the front article remains visible through the window to assist the customer in selecting the desired article.
  • the articles picked from the tray are then delivered to the delivery location 6, as hereinafter described, for retrieval at the front of the machine.
  • the motor 17 has been energized causing the tubes 16b-16g to extend.
  • the vacuum pressure switch 14 detects a pressure change when contact between the elastic cup 24 and the product 27 has been made. If the pressure vacuum switch 14 does not make contact within a defined period of time, the software causes the motor 17 to be reversed and retract the tubes, then returning the machine to its initial start position provided that the snap action switch 15 is engaged. If the snap action switch 15 is not engaged at this point the software will set the machine out of service as described above. If the pressure vacuum switch 14 does make contact within the defined period of time, then the carriage 11 is moved to its delivery position.
  • step 35 the software than proceeds to step 36 and checks to see if a predetermined retry limit has not been exceeded, if the limit has been exceed the machine is set out of service step 38. If the retry limit in step 35 has not been exceeded the machine will retry the pick cycle starting at step 31 and repeat this process until achieving the predetermined limit at step 35.
  • a carrier tray is rigidly mounted to the carrier 12.
  • a product 27 is shown on the carrier tray 45.
  • a surface 46 on the product tray 7 provides a means of transferring the product 27 to the tray 7.
  • the carrier tray 45 is horizontally in line with the tray surface 46 as shown in Fig. 10 and has a slight offset 47 as shown in Fig 11 .
  • There are many variations in the bottom of the product 27 causing slight variations in the alignment of surface 46 and carrier tray 45 so as to allow the product 27 to be pushed by tubes 16a-16g very smoothly onto the surface 46 and not be dropped or tipped.
  • the gap 47 can be set for individual products by software control, allowing for different gaps on product delivery to be used and therefore ensuring smooth (no-drop) product delivery.
  • the delivery position can be at any location on the x-y array and is preferable to be located at a position for product retrieval by a person. The position can be optimized for disabled persons.
  • the vacuum source consists of a vacuum fan motor 50 and a vacuum fan 51 contained in a casing 52 which is rigidly mounted on the carriage 11.
  • a suction tube 53 extends between the casing 52 and the vacuum chamber 13 in turn connected to the telescoping tubes 16a-16g.
  • Figure 13 is a block diagram of the main machine control components comprised of a control board 54 comprised of a communication system 54a, a payment system 54b and a motion control system 54c.
  • the payment system consists of at least one of the following: note reader 55, coin acceptor 56, credit card reader 57, closed user group card reader 58 or any other form of payment and also can be set to a no-payment option.
  • the communication system 54a can communicate with a selection keypad 59 and a selection information display screen 60 or can be linked directly by serial bus to a p/c 61.
  • the p/c 61 can be used to manage all the transaction functions including incorporating a touch screen for user the interface and can also receive and send information via wired telecom, wireless telecom, wifi, internet, or intranet communications.
  • the information can include, machine conditions, number of vends, amount of stock, all accounting information.
  • the P/C can also receive and implement software via the same.
  • the motion control system controls the movement of the carriage, the pick arm movements
  • a lock controllable door 6 comprises a frame 62, a rotating drum 63, axially bushings 64 pivotally mounted to the frame 62 for means of rotating the drum 63, a worm gear 65 driven by a motor 66, two optical sensors 67 and 68, and guide walls 69 and 70.
  • the worm gear 65 is engaged with a worm wheel 71, which is rigidly connected to a spur gear 72, the spur gear being engaged with a driven gear 73.
  • the driven gear 73 is rigidly mounted to the drum 63.
  • An actuator 74 is rigidly mounted to the driven gear 73 and makes contact with one of two switches 75 and 76 when the drum is fully opened or fully closed.
  • the worm gear 65 provides the locking force required to keep the drum 63 locked in the closed or open position.
  • the vacuum tubes 16a-16g extend to push the article 27 into the rotating drum 63. If one of the optical sensors 67 and 68 is blocked by the article 27, a signal is sent to the controller causing the motor 66 to rotate and open the drum 63. When the drum 63 rotates, the article can be retrieved from the drum. When the article 27 is removed, the sensor 67 or 68 is unblocked and the controller causes the motor 66 to reverse, closing the drum 63 to a full locked position.
EP07270039A 2007-06-11 2007-07-30 Appareil pour le stockage et l'extraction sélective d'articles et distributeur doté dudit appareil Not-in-force EP2006812B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GBGB0711150.3A GB0711150D0 (en) 2007-06-11 2007-06-11 Apparatus for storing and selectively retrieving articles, and vending machine including such apparatus

Publications (2)

Publication Number Publication Date
EP2006812A1 true EP2006812A1 (fr) 2008-12-24
EP2006812B1 EP2006812B1 (fr) 2012-06-27

Family

ID=38319071

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07270039A Not-in-force EP2006812B1 (fr) 2007-06-11 2007-07-30 Appareil pour le stockage et l'extraction sélective d'articles et distributeur doté dudit appareil

Country Status (3)

Country Link
EP (1) EP2006812B1 (fr)
ES (1) ES2390176T3 (fr)
GB (1) GB0711150D0 (fr)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013044204A1 (fr) * 2011-09-22 2013-03-28 Imi Cornelius Inc. Système de distribution de gobelets
CN105809827A (zh) * 2016-05-12 2016-07-27 深圳壹号柜科技股份有限公司 一种样品自动取出式样品柜
ES2581252A1 (es) * 2015-03-02 2016-09-02 Jofemar, S.A. Máquina expendedora automática
US9659427B2 (en) 2013-07-17 2017-05-23 Shoprobotic, Ltd. Vending machine and associated methods
CN106960512A (zh) * 2017-04-25 2017-07-18 扬州弈姿户外运动服饰有限公司 一种泳装自动售货机及其操作方法
CN107170122A (zh) * 2016-09-30 2017-09-15 江苏中天华宇智能科技有限公司 一种存取与售卖粉末或颗粒状袋装类物料的装置
CN112017374A (zh) * 2020-08-17 2020-12-01 深圳市丰巢网络技术有限公司 一种快递柜的格口推荐方法、装置、快递柜及存储介质
RU2752368C2 (ru) * 2016-12-16 2021-07-26 Пепсико, Инк. Упрощенный торговый автомат
US20220204266A1 (en) * 2020-12-30 2022-06-30 Trinity Axis Inc. Systems And Methods To Dispense Items From A Vending Machine
US11620868B2 (en) 2021-07-22 2023-04-04 Trinity Axis Inc. Techniques to dispense an item and release a jammed item from a dispensing system

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2135965A (en) * 1983-03-01 1984-09-12 Dart Ind Inc Improvements in or relating to a workpiece manipulator
GB2166214A (en) * 1984-10-25 1986-04-30 Atomic Energy Authority Uk Transport apparatus
WO2002003340A1 (fr) * 2000-05-23 2002-01-10 Munroe Chirnomas Procédé et dispositif de positionnement d'un manipulateur d'articles
WO2003076842A1 (fr) * 2002-03-13 2003-09-18 Borealis Technology Oy Appareil et procede permettant de tester des tuyaux
WO2004114233A1 (fr) * 2003-06-15 2004-12-29 Apollo Vending Services Ltd Appareil de stockage et de recuperation d'articles et distributeur automatique
US20060011646A1 (en) * 2001-05-23 2006-01-19 Munroe Chirnomas Quick release for article handling mechanism
EP1806302A1 (fr) * 2006-01-05 2007-07-11 von Liechtenstein, Alexander Procede et dispositif de préparation de commandes et de stockage

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2135965A (en) * 1983-03-01 1984-09-12 Dart Ind Inc Improvements in or relating to a workpiece manipulator
GB2166214A (en) * 1984-10-25 1986-04-30 Atomic Energy Authority Uk Transport apparatus
WO2002003340A1 (fr) * 2000-05-23 2002-01-10 Munroe Chirnomas Procédé et dispositif de positionnement d'un manipulateur d'articles
US20060011646A1 (en) * 2001-05-23 2006-01-19 Munroe Chirnomas Quick release for article handling mechanism
WO2003076842A1 (fr) * 2002-03-13 2003-09-18 Borealis Technology Oy Appareil et procede permettant de tester des tuyaux
WO2004114233A1 (fr) * 2003-06-15 2004-12-29 Apollo Vending Services Ltd Appareil de stockage et de recuperation d'articles et distributeur automatique
EP1806302A1 (fr) * 2006-01-05 2007-07-11 von Liechtenstein, Alexander Procede et dispositif de préparation de commandes et de stockage

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013044204A1 (fr) * 2011-09-22 2013-03-28 Imi Cornelius Inc. Système de distribution de gobelets
US9944472B2 (en) 2011-09-22 2018-04-17 Cornelius, Inc. Beverage dispensing apparatus
US9659427B2 (en) 2013-07-17 2017-05-23 Shoprobotic, Ltd. Vending machine and associated methods
ES2581252A1 (es) * 2015-03-02 2016-09-02 Jofemar, S.A. Máquina expendedora automática
CN105809827A (zh) * 2016-05-12 2016-07-27 深圳壹号柜科技股份有限公司 一种样品自动取出式样品柜
CN107170122A (zh) * 2016-09-30 2017-09-15 江苏中天华宇智能科技有限公司 一种存取与售卖粉末或颗粒状袋装类物料的装置
RU2752368C2 (ru) * 2016-12-16 2021-07-26 Пепсико, Инк. Упрощенный торговый автомат
CN106960512A (zh) * 2017-04-25 2017-07-18 扬州弈姿户外运动服饰有限公司 一种泳装自动售货机及其操作方法
CN112017374A (zh) * 2020-08-17 2020-12-01 深圳市丰巢网络技术有限公司 一种快递柜的格口推荐方法、装置、快递柜及存储介质
US20220204266A1 (en) * 2020-12-30 2022-06-30 Trinity Axis Inc. Systems And Methods To Dispense Items From A Vending Machine
US11620868B2 (en) 2021-07-22 2023-04-04 Trinity Axis Inc. Techniques to dispense an item and release a jammed item from a dispensing system
US11830310B2 (en) 2021-07-22 2023-11-28 Trinity Axis Inc. Techniques to dispense an item and release a jammed item from a dispensing system

Also Published As

Publication number Publication date
EP2006812B1 (fr) 2012-06-27
GB0711150D0 (en) 2007-07-18
ES2390176T3 (es) 2012-11-07

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