EP2006812B1

EP2006812B1 - Apparatus for storing and selectively retrieving articles, and vending machine including such apparatus

Info

Publication number: EP2006812B1
Application number: EP07270039A
Authority: EP
Inventors: Steven Faes; Jason Rawding
Original assignee: Shoprobotic Ltd
Current assignee: SHOPROBOTIC LTD
Priority date: 2007-06-11
Filing date: 2007-07-30
Publication date: 2012-06-27
Anticipated expiration: 2027-07-30
Also published as: ES2390176T3; GB0711150D0; EP2006812A1

Description

Field of the Invention

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.

Background to the Invention

Until recent years most of the mechanisms used in various dispensing machines relied on fixed pitch spiral or fixed pitch conveyor delivery systems. Individual product selections required an individual mechanism for each product, consisting of a powered spiral or a powered segmented conveyor. Such machines suffer from a number of disadvantages, such as low volumetric efficiency of product density due to the fixed pitch nature of the spiral, physical damage to the products caused by forces induced by the spiral, and physical damage to the product caused by dropping the product to a delivery compartment.
The machines disclosed in US5240139 and US6547096 represent vast improvements in the art, providing means of lifting product with a vacuum pick mechanism in combination with innovative use of product storage bins and display areas. Objects of the present invention are to provide a product vending machine of a similar type generally shown in US5240139 and US6547096 , but which has an improved mechanism for product dispensing with improved reliability.
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.
Furthermore the invention disclosed in International Publication Number WO 2004/114233 A1 is a similar apparatus to this invention. However, a number of improvements have been made to the apparatus to increase functionality, reliability and control of the apparatus. These improvements include robust over travel stops on the telescoping tube, a friction drive system, flat coil spring extension/retraction member driven by the friction system, a simple pressure switch for monitoring the supply vacuum, a positional switch ensuring that the tube is fully retracted and at a known starting position, tube support feature that eliminates variations in the suction cup horizontal height when extended and control software that allows for pick retries in the event of a loss of vacuum during the pick cycle.

Summary of the Invention

In accordance with one aspect of the invention, 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, the suction tube drive means comprising an elongate flat strip capable of being coiled on itself but adopting a linear configuration when uncoiled, friction drive rollers engaging the opposed faces of the strip, rotation of the rollers causing linear movement of the strip, and a roller motor to drive the rollers, a first end of the strip being attached to the end of the suction tube so that extension and retraction of the strip causes telescopic extension and retraction of the suction tube.
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. 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 optimized for ergonomics, particularly for a physically disabled person.

Brief Description of the Drawings

In the drawings, which illustrate an exemplary embodiment of the vending machine of the invention:

Figure 1 is a front perspective view of a vending machine constructed and operating in accordance with the principles of the invention;
Figure 2 is a front perspective view of the vending machine illustrating some of the storage locations removed to show part of the product pick machanism;
Figure 3 is a front perspective view of the vending x-y drive mechanism;
Figure 4 is an enlarged perspective view of the product pick mechanism;
Figure 5 is a side view of the product pick mechanism;
Figure 6a is a partial section view of the product pick mechanism;
Figure 6b is partial view of the telescoping tube;
Figure 7 is a partial section view of the product pick mechanism;
Figures 8a, 8b, 8c are side views of the x-y mechanism shown extended; and
Figure 9 is a logic diagram of the software control circuit for the product pick mechanism;
Figure 10 is a partial side view of the product pick mechanism in a delivery position;
Figure 11 is a partial side view of the product pick mechanism in a delivery position with a slight offset;
Figure 12 is a side elevation of the product pick mechanism as shown in Figure 5, with a portion of the casing removed, showing the vacuum motor and vacuum fan;
Figure 13 is a block diagram of components for machine control;
Figure 14 is perspective view of the delivery door;
Figure 15 is bottom view of the delivery door; and
Figure 16 is cross section view of the delivery door as viewed form the top.

Detailed Description of the Illustrated Embodiment

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.
It will be understood that 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. Directly behind the transparent product display panel 4 resides a series of product trays 7a-7c The product trays 7a-7c are shown with a plurality of products 8a-8c stored on them. The trays 7a-7c are arranged in such a way as to allow the products Ba-8c to be viewed from the customer in a clear and easily recognizable manner. The product labelling can be viewed in a normal reading orientation by the customer. The products 8a-8c can be loaded into the trays 7a-7c directly from the front of the vending machine 1 when the front door 3 is opened.
Figure 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.
Referring now to Figs. 4, 5, 6a, 6b and 7, 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. Furthermore 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 and 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. As motor 17 is energized 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.
Referring now to Figs 6a, 6b, 8a and 8b, the tubes 16a-16g have internal stepped rings 25a-25f rigidly attached to them. The tubes also have an external stepped ring 26a-26e. As tube 16g extends further, it contacts tube 16f and then imparts a force on 16e causing it to move linear. As the tube 16 extends, the internal step rings 25a-25 contact the external stepped rings 24a-24g causing additional tube sections 16d-16b to be extended. Over travel is thereby limiting by the step ring contact, where one of tubes 16b-16g may be pushed out of contact with the adjacent tube. When the motor 17 is reversed the forces are then applied in an opposite direction causing the tubes 16b-16g to collapse. Furthermore stop rings 22a-22e are rigidly attached to tubes 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. Furthermore the tubes 16a-16g are contracted in such a way as to provide an air path for providing negative pressure (vacuum) at the elastic suction cup 24.
Referring now to Figure 8a, 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-7c , effectively keeping the extended height of the suction cup 24 at the same height as if in the fully retracted position. It will be seen that the articles 27 (one only shown in Figure 8a) 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.
Referring to Figure 9, the logic diagram under software control is described as follows:

a customer would normally select a product by using the panel 5 (shown in Figure 1). When a product is selected the software checks at step 30 that the snap action switch 15 is engaged. If it is engaged, the drive mechanism 9 positions the table 11 in such a way as to align the telescoping vacuum pick mechanism 12 with the appropriate product. If the snap action switch is not engaged the software then sets the machine out of service (step 43). Moving the carriage without the telescoping tube 16b-16g in the completely retracted position would cause major machine failure and potentially damage the partially extended tubes 16b-16g. The telescoping vacuum pick mechanism 12 then is positioned as to retrieve a product 27 in any one of the arrayed product trays 7a-7c. The telescoping vacuum pick mechanism 12 is then energized and caused to extend.

As shown in Figure 8a, 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. If the pressure switch 14 is not detected at 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 exceeded 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.
Referring now to Figures 10 and 11, the carriage is shown at a delivery position. 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.
Referring now to Figure 12, 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 and vacuum, the door movement and refrigeration control if required.
Referring now to Figure 14, 15, 16 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. When an article 27 is delivered to the door 6, 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.

Claims

Apparatus for storing and selectively retrieving articles, comprising a vertical array of storage locations (7) each having a horizontal surface (7a-7c) on which articles (8a-8c) may rest and along which articles may be slid, a carriage (11) 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 (16a-16g), suction tube drive means (17-21, 23) associated with the tube for selectively extending and retracting the tube, and suction means (13) 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, the suction tube drive means comprising an elongate flat strip (21) capable of being coiled on itself but adapting a linear configuration when uncoiled, the friction drive rollers (18, 23) engaging the opposed faces of the strip, rotation of the rollers causing linear movement of the strip, and a roller motor (17) to drive the rollers, a first end of the strip being attached to the end of the suction tube (16g) so that extension and retraction of the strip causes telescopic extension and retraction of the suction tube.
Apparatus according to Claim 1, wherein the suction means comprises a fan driven by a motor mounted on the carriage.
Apparatus according to Claim 1 or 2, wherein the suction tube carries at the free end (16g) thereof an elastic cup (24) surrounding the tube and engageable with the article.
Apparatus according to any preceding claim, wherein the carriage (11) is mounted to slide along a horizontal rail (9b) which is In turn slidably mounted on a vertical rail (9a), motors being provided for selectively moving the carriage along the horizontal rail and the horizontal rail along the vertical rail.
Apparatus according to any preceding claim, wherein a suction tube support (28) is provided at or adjacent to the free end (16g) of the suction tube, the support being movable on the carriage (11) and on the horizontal surface in each of said locations.
Apparatus according to Claim 5, wherein the support (28) comprises a plate extending downwardly from the tube and slidable over the carriage and the horizontal surface.
Apparatus according to any preceding claim, wherein the array of storage locations (7) comprises a delivery location from which an article may be manually retrieved.
A vending machine comprising apparatus according to any preceding claim, located within a lockable cabinet (2) providing access only to said delivery location, selection means (5) on the cabinet for sending an article selection signal to control means to indicate the choice of article to be vended by the machine, and payment means (5) for receiving a payment in relation to the article and for sending a payment signal to the control means when the payment has been received, wherein the control means is arranged to control the movement of the carriage and the operation of the arm in response to receipt of the article selection and payment signals to deliver the selected article from the respective storage location (7) to said delivery location (6).
A vending machine according to Claim 8, wherein the cabinet is provided with a transparent panel (4) in one vertical face thereof, and the array of storage locations (7) is positioned with the vertical face thereof opposite to that over which the carriage is movable adjacent to the transparent panel, whereby the contents of all the storage locations are visible from outside the cabinet.
A vending machine according to Claim 9, comprising a door (6) in the cabinet for the delivery location.
A vending machine according to Claim 10, wherein the door (6) is provided with a lock (62-76) controllable by the control means to release the door when the selected article has been delivered to the delivery location.
A vending machine according to any preceding claim, comprising a pressure detector (14) in the suction tube (16) linked to the control means.
A vending machine according to Claim 12, wherein the control means is programmed to reverse direction of the roller motor (17), thereby withdrawing the article, in response to detection of a decrease in pressure in the suction tube (16) resulting from engagement of the tube with the article to be withdrawn.
A vending machine according to Claim 12 or 13, wherein the control means is programmed to halt the withdrawal of the article in response to a pre-determined increase in pressure in the tube, indicating loss of suction on the article, and to repeat the outward motion of the suction tube to engage the tube with the article.
A vending machine according to Claim 14, comprising a contact switch (15) to detect full retraction of the suction tube, the contact switch being linked to the control means, and the control means being programmed to prevent movement of the carriage until the contact switch operates to indicate full retraction.
A vending machine according to any of Claims 8 to 15, wherein the cabinet comprises a room within a building and the selection means is positioned on or in a window for said room.
A vending machine according to Claim 16, wherein the window is a shop-front window.