US20090101614A1 - Unpowered End Effector for Dispensing Apparatus - Google Patents
Unpowered End Effector for Dispensing Apparatus Download PDFInfo
- Publication number
- US20090101614A1 US20090101614A1 US11/876,427 US87642707A US2009101614A1 US 20090101614 A1 US20090101614 A1 US 20090101614A1 US 87642707 A US87642707 A US 87642707A US 2009101614 A1 US2009101614 A1 US 2009101614A1
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- Prior art keywords
- product
- end effector
- shelf
- unpowered
- dispensing apparatus
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- 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
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- 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
- G07F11/28—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which the magazines are inclined
- G07F11/32—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which the magazines are inclined two or magazines having a common delivery chute
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- 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
- G07F11/38—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which the magazines are horizontal
- G07F11/42—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which the magazines are horizontal the articles being delivered by motor-driven means
Definitions
- This invention relates generally to end effectors of a dispensing apparatus and more specifically relates to an unpowered end effector.
- Dispensing apparatuses such as vending machines are being developed to incorporate x-y picker assemblies for picking products from a x-y product grid.
- the picker assemblies employ motorized end effectors that actually grab the product form the x-y product grid.
- the motorized end effector thus requires wires, wire-harnesses, and other electrical and mechanical components to effectuate the picking of the product. Therefore, the initial cost and the required maintenance of the picker assembly may be increased.
- the mechanical picking system includes at least one substantially horizontal shelf operable for supporting a product, and a picker assembly which further includes an unpowered end effector.
- the unpowered end effector includes a plurality of receiving fingers and a holding area. The unpowered end effector is rotatable with respect to the shelf to enable the fingers to transfer the product from the shelf to the holding area.
- Another embodiment of the application includes a method of vending a product from an x-y dispensing apparatus.
- the method includes positioning an end effector of a picker assembly under a product positioned on a substantially horizontal shelf, moving the end effector upward to lift the product off of the shelf with the end effector, rotating the end effector to hold the product, and dispensing the product from the dispensing apparatus.
- the notification system includes an event device affixed to a picker assembly wherein the event device is operable to create an event upon successful capture of a product by the picker assembly, and a detection device for sensing the event.
- Yet another embodiment of the application includes a pill door for a dispensing apparatus.
- the pill door includes a dispensing chute for dispensing a product from the dispensing apparatus to a consumer, and a rotation device to rotate the product from a substantially horizontal position to a substantially vertical position.
- FIG. 1 illustrates a dispensing apparatus according to an exemplary embodiment of the application.
- FIG. 2 illustrates shelf fingers according to an exemplary embodiment of the application.
- FIG. 3 illustrates a x-y product grid according to an exemplary embodiment of the application.
- FIG. 4 illustrates a picker assembly according to an exemplary embodiment of the application.
- FIG. 5 illustrates an exploded view of a picker assembly according to an exemplary embodiment of the application.
- FIG. 6 illustrates a holding position of an unpowered end effector according to an exemplary embodiment of the application.
- FIG. 7 illustrates an event device attached to a picking assembly according to an exemplary embodiment of the application.
- FIG. 8 illustrates a pill door according to an exemplary embodiment of the application.
- FIG. 9 illustrates a pill dispensing chute according to an exemplary embodiment of the application.
- FIG. 10 illustrates a rotating device of a pill dispensing chute according to an exemplary embodiment of the application.
- the present application relates to a picker assembly for a dispensing apparatus such as a vending machine that dispenses products such as cans, bottles, boxes, etc., to a waiting consumer.
- the dispensing apparatus may dispense a number of different products out of various rows of shelves through the use of a picker assembly which is part of a x-y positioning assembly.
- the picker assembly may include an unpowered end effector operable for removing the product from the shelf.
- the unpowered end effector does not require a motor, servo, or any other electrically driven means for picking a product. Therefore, the unpowered end effector reduces the upfront design, cost, and maintenance required for the existing powered picking systems.
- the unpowered end effector is rotatable about an axis between a receiving position and a holding position. Through the movement of the picker assembly by the x-y positioning assembly, the unpowered end effector can engage the product in the receiving position and transfer the product from the shelf to the unpowered end effector in the holding position using the weight of the product. Once the picker assembly possesses the product in the holding position, the picker assembly can deliver the product to a dispensing area for retrieval by the consumer or for any other use.
- FIG. 1 is an illustrative view of a dispensing apparatus 12 for use with the unpowered end effector 28 of the picker assembly 18 .
- the dispensing apparatus 12 may include a number of shelves 14 oriented in a number of rows.
- the shelves 14 are configured to support products 16 to be dispensed.
- the products 16 may be cans, bottles, boxes, or any other product desired to be dispensed.
- the shelf 14 may be inclined as known in the art and includes dividers as known in the art to provide a number of inclined “chutes,” which allow product, especially round product, to slide or roll down to the front of the shelf under the influence of gravity. Any method or device for moving the products along the shelf is contemplated herein.
- a product support At the front edge of the shelf 14 is provided a product support.
- the product support may be a retention feature in each row to secure the product to the end of the shelf 14 .
- the product support includes a comblike lip configuration provided by a number of spaced-apart “shelf fingers” 15 that may extend generally upwardly from the front edge of the shelf 14 .
- Other configurations may be used herein.
- the products 16 may be aligned on the shelf 14 in the individual chutes.
- the products 16 in the chutes may vary.
- the combination of the rows of shelves 14 and the chutes within the rows form an x-y product grid 17 on the dispensing apparatus 12 as shown in the exemplary embodiment of FIG. 3 .
- the dispensing apparatus 12 also includes a x-y positioning assembly for negotiating the x-y product grid 17 .
- the x-y positioning assembly includes a horizontal device 20 and a vertical device 22 .
- the horizontal device 20 may include two substantially horizontal rods 21 extending across a portion of the width of the dispensing apparatus in a substantially parallel orientation. One of the rods may be positioned substantially at the top of the dispensing apparatus 12 and the second rod may be positioned substantially at the bottom of the dispensing apparatus.
- the vertical device 22 may include a vertical rod 23 affixed to the horizontal device 20 such that the vertical rod 23 may move horizontally across the horizontal device 20 .
- a motor assembly (not shown) may be included to move the vertical device 22 along the horizontal device 20 .
- a picker assembly 18 may be affixed to the vertical device 22 operable to move up and down the vertical device.
- a motor assembly (not shown) may be included to move the picker assembly along the vertical device.
- the combined motion of the vertical device 22 along the horizontal device 20 and the motion of the picker assembly 18 along the vertical device 22 allows the picker assembly 18 to positioning the x-y product grid 17 .
- a controller may be used to control the x-y positioning assembly and to position the picker assembly 18 at a desired location on the x-y product grid 17 .
- the x-y positioning assembly described herein is merely an exemplary embodiment. Any system capable of moving the picker assembly 18 across the x-y product grid 17 is contemplated herein, including without limitation a system of any number of vertical or horizontal devices to effect movement or a robotic arm system.
- FIG. 4 illustrates an exemplary embodiment of a picker assembly 18 .
- the picker assembly 18 includes an unpowered end effector 28 .
- the unpowered end effector 28 includes a receiving area 30 and a holding area 32 .
- the receiving area 30 engages the product 16 on the shelf 14 and transfers the product 16 to the holding area 32 .
- the receiving area 30 may include a number of receiving fingers 31 .
- the receiving fingers 31 may be substantially linear in shape and be spaced.
- the holding area 32 may include a number of curved holding fingers 33 appropriate for supporting a product 16 in place.
- the holding area 32 may not include curved fingers but may include a solid structure capable of supporting a product or any other variation thereof.
- the unpowered end effector 28 may be rotatable about a shaft 39 .
- the shaft 39 may engage a cam follower arm 42 which may permit the shaft to rotate between the receiving position and the holding position.
- FIG. 5 illustrates an exploded view of the picker assembly 18 .
- the picker assembly 18 is not limited to this embodiment but may be any configuration capable of transferring the product 16 from the receiving area 30 to the holding area 32 .
- a cam block 34 engages with a main plate 36 to form a cam reception area 35 , 37 for a cam follower arm 42 .
- the portion of the cam follower arm 42 that engages the cam reception area 35 , 37 may include ball bearings 42 .
- the cam follower arm 42 also connects with a shaft 39 to permit the unpowered end effector 28 to rotate between the receiving and the holding positions.
- the cam follower arm 42 and the shaft 39 may further connect with a spring damper system 43 to effect the motion of the cam.
- the connection may be made through a damper arm 44 or any other suitable mechanism.
- a receiving slide rod 38 may be positioned with respect to the cam follower arm 42 to push the cam follower arm 42 and rotate the unpowered end effector 28 into the receiving position.
- the top end of the receiving slide rod 38 may contact a surface to force the receiving slide rod 38 downward in relation to the cam follower arm 42 .
- the downward motion of the receiving slide rod 38 will cause the rotation of the cam follower arm 42 .
- the picker assembly 18 may further include a holding slide rod 40 positioned with respect to the cam follower arm 42 to push the cam follower arm 42 and rotate the unpowered end effector 28 into the holding position.
- the bottom end of the holding slide rod 40 may contact a bottom surface to force the holding slide rod upward in relation to the cam follower arm 42 .
- the upward motion of the holding slide rod 40 will cause the rotation of the cam follower arm 42 .
- the unpowered end effector 28 dispenses the product 16 by capturing the product 16 from the shelf fingers 15 of the shelf 14 .
- the unpowered end effector 28 begins in the receiving position. In the receiving position, the unpowered end effector 28 is rotated such that the fingers 30 are angled downward from vertical. In an exemplary embodiment, the fingers 30 are rotated approximately fifteen to forty-five degrees off vertical The angle of rotation, however, may be any angle appropriate for engaging the product 16 on the shelf fingers 15 .
- Fingers 30 of the unpowered end effector 28 are positioned between the shelf fingers 15 of the shelf 14 .
- the picker assembly 18 then moves upward causing the fingers 30 to remove the product 16 from the shelf fingers 15 .
- the fingers 30 may capture the product by pushing, pulling, scraping, lifting, or performing any other action that forces the product 16 from the shelf fingers 15 .
- the product 16 falls through gravity to the holding area 32 of the unpowered end effector 28 .
- the weight of the product 16 on the holding area 32 causes the unpowered end effector 28 to rotate to the holding position.
- the holding position is a substantially vertical position as shown in the exemplary embodiment of FIG. 6 .
- the picker assembly 18 may then move through the x-y positioning system to any desired location to dispense or deliver the product 16 .
- the picker assembly 18 resides in the lower left corner of the dispensing apparatus 12 .
- the picking assembly 18 may then move vertically along the x-y positioning assembly to cause the receiving slide rod 38 to contact a horizontal surface.
- the impact of the receiving slide rod 28 with the horizontal surface forces rotation of the cam follow arm 42 and thereby rotates the unpowered end effector 28 into the receiving position. It should be understood that any method or system to get the unpowered end effector 28 in the receiving position is contemplated herein.
- the holding slide rod 40 may contact a bottom surface to reset the unpowered end effector 28 into the holding position.
- the unpowered end effector 28 since the holding position is substantially vertical, the unpowered end effector 28 will not impact any of the shelves 14 or the shelf fingers 15 when moving across the x-y product grid 17 . The unpowered end effector 28 may then selectively be placed in the receiving or holding position as may be desired.
- the dispensing apparatus 12 may utilize a picking notification system to determine whether a product 16 was successfully picked.
- the picking notification system provides a low cost and low maintenance system to sense the picking of a product 16 .
- Picking notification may come from any event device 50 that creates an event detectable by a detection device (not shown) in the dispensing apparatus 12 .
- the event may be a piezo electric spark, a noise, a light, or any other detectable event.
- the event device 50 may be positioned about the shaft 39 in relation to the unpowered end effector 28 . The rotation of the unpowered end effector 28 from the receiving position to the holding position may cause the shaft 39 to rotate thereby causing the piezoelectric spark device to make a piezoelectric spark.
- a detection device may be located in the dispensing apparatus 12 that can sense the piezo electric spark through heat, light, or any other emissions and therefore notify the dispensing apparatus 12 that a product 16 has been picked.
- the detection device may be based on sound, electrical disturbance or light.
- An example is a sound, light or electrical noise detector located inside the vendor that is programmed to listen for a response from the emitter positioned onto the picker, at the exact time interval when the product should be dropped into the picker.
- the dispensing apparatus 12 may be notified of a successful picking of a product 16 through detection of sound relating to the picking. For the unpowered end effector 28 , a significant noise will be made from the transition of the product 16 from the receiving area 30 to the holding area 32 . A detection device may then detect the noise and alert the dispensing apparatus 12 that a successful picking of the product 16 occurred.
- Dispensing apparatus 12 also may include a computer system (not shown) integrated with the detection device and the dispensing apparatus to control its operation.
- the computer system may include a general purpose computer, a special purpose computer, or other programmable data processing apparatus designed to control the operation of the dispensing apparatus and store information regarding the operation and use of the dispensing apparatus.
- the computer system may include a computer-readable memory that can direct the computer or other programmable data processing apparatus to implement a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process.
- the computer system also may include a hard drive for storing information on the status of the x-y product grid, operating conditions, and use by consumers.
- the computer system may be programmed to instruct the dispensing apparatus on how to operate based on the information gathered from the detection device. If the detection device determines that a product has been successfully picked, the computer system can instruct the dispensing apparatus to dispense the product to the consumer. If the detection device determines that a product was not successfully picked, then the computer system may instruct the dispensing apparatus to attempt to re-pick the product, pick the product from a different location in the x-y product grid, or refund the consumer's money.
- the present application further includes a pill door 100 for the dispensing apparatus 12 .
- a pill door 100 is essentially the door of a vending machine. An embodiment of a pill door is shown in FIG. 8 . As shown in an exemplary embodiment of FIG. 9 , the pill door 100 may be configured to operate with any x-y picking vending machines.
- the pill door 100 may include a dispensing chute 102 for dispensing the product 16 through the pill door 100 to a consumer.
- the dispensing chute 102 may include a rake 104 for removing the product 16 from an end effector 28 of a picking assembly 18 .
- the rake 104 may include rake fingers 106 that extend from a back portion of the pill door 100 towards the x-y product grid 17 of the dispensing apparatus 12 .
- the rake fingers 106 are spaced to interface the holding area 32 of the unpowered end effector 28 such that the unpowered end effector 28 may move from above the rake 104 to below the rake 104 to allow the rake fingers 106 to remove the product 16 .
- the rake fingers 106 may be declined to permit the product 16 to move into the dispensing chute 102 of the pill door 100 .
- the pill door 100 may include a rotation device 108 .
- An exemplary embodiment of a rotation device 108 is illustrated in FIG. 10 .
- the rotation device 108 of FIG. 10 includes a rotation wall 110 oriented at approximately a 45 degree angle. It should be understood that the rotation wall 110 may be at any angle that forces the product 16 to rotate to a substantially vertical position.
- the rotation wall 110 creates space for a chute that is slightly larger than the product. The slightly larger opening permits the product 16 to rotate smoothly in the dispensing chute 102 . The product 16 moves down the rake 106 and into the rotation device 108 through the force of gravity.
- the rotation wall 110 then forces the product 16 to rotate into a substantially vertical position as it moves further down the dispensing chute 102 .
- the dispensing chute 102 may include an opening 112 on the other surface of the pill door 160 .
- the opening 112 allows the consumer to have access to a dispensed product 16 . Due to the rotation device 108 , the consumer may then receive a product 16 oriented in a substantially vertical position.
- the rotation device 108 has the advantage of smoothly rotating and dispensing the product 16 to the user. Because the pill door 100 is to be used with an x-y picking vending machine, the picker assembly 18 can provide the product 16 at any desired location within the dispensing apparatus 12 .
- the dispensing chute 102 may be positioned above the waist of an average consumer.
- the dispensing chute 102 can be at a height that does not require the customer to severely bend over to retrieve the dispensed product from the opening.
- the dispensing chute 102 is approximately four feet from the ground. The height can be set to meet ADA requirements or any other height.
- the pill door 100 may further include a money return device positioned above the waist of an average consumer.
- the height of the money return device is positioned to prevent the consumer from having to bend over to retrieve change or a refund of its money.
Abstract
A mechanical picking system for a x-y picker dispensing apparatus that includes at least one substantially horizontal shelf operable for supporting a product, and a picker assembly which further includes an unpowered end effector. The unpowered end effector includes a plurality of receiving fingers and a holding area. The unpowered end effector is rotatable with respect to the shelf to enable the fingers to transfer the product from the shelf to the holding area.
Description
- This invention relates generally to end effectors of a dispensing apparatus and more specifically relates to an unpowered end effector.
- Dispensing apparatuses such as vending machines are being developed to incorporate x-y picker assemblies for picking products from a x-y product grid. The picker assemblies employ motorized end effectors that actually grab the product form the x-y product grid. The motorized end effector thus requires wires, wire-harnesses, and other electrical and mechanical components to effectuate the picking of the product. Therefore, the initial cost and the required maintenance of the picker assembly may be increased.
- Thus, there is a need in the art for a low-cost, low maintenance picker assembly for picking products from x-y product grids
- One embodiment of the application includes a mechanical picking system for a x-y picker dispensing apparatus. The mechanical picking system includes at least one substantially horizontal shelf operable for supporting a product, and a picker assembly which further includes an unpowered end effector. The unpowered end effector includes a plurality of receiving fingers and a holding area. The unpowered end effector is rotatable with respect to the shelf to enable the fingers to transfer the product from the shelf to the holding area.
- Another embodiment of the application includes a method of vending a product from an x-y dispensing apparatus. The method includes positioning an end effector of a picker assembly under a product positioned on a substantially horizontal shelf, moving the end effector upward to lift the product off of the shelf with the end effector, rotating the end effector to hold the product, and dispensing the product from the dispensing apparatus.
- Yet another embodiment of the application includes a notification system for a dispensing apparatus. The notification system includes an event device affixed to a picker assembly wherein the event device is operable to create an event upon successful capture of a product by the picker assembly, and a detection device for sensing the event.
- Yet another embodiment of the application includes a pill door for a dispensing apparatus. The pill door includes a dispensing chute for dispensing a product from the dispensing apparatus to a consumer, and a rotation device to rotate the product from a substantially horizontal position to a substantially vertical position.
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FIG. 1 illustrates a dispensing apparatus according to an exemplary embodiment of the application. -
FIG. 2 illustrates shelf fingers according to an exemplary embodiment of the application. -
FIG. 3 illustrates a x-y product grid according to an exemplary embodiment of the application. -
FIG. 4 illustrates a picker assembly according to an exemplary embodiment of the application. -
FIG. 5 illustrates an exploded view of a picker assembly according to an exemplary embodiment of the application. -
FIG. 6 illustrates a holding position of an unpowered end effector according to an exemplary embodiment of the application. -
FIG. 7 illustrates an event device attached to a picking assembly according to an exemplary embodiment of the application. -
FIG. 8 illustrates a pill door according to an exemplary embodiment of the application. -
FIG. 9 illustrates a pill dispensing chute according to an exemplary embodiment of the application. -
FIG. 10 illustrates a rotating device of a pill dispensing chute according to an exemplary embodiment of the application. - Generally described, the present application relates to a picker assembly for a dispensing apparatus such as a vending machine that dispenses products such as cans, bottles, boxes, etc., to a waiting consumer. The dispensing apparatus may dispense a number of different products out of various rows of shelves through the use of a picker assembly which is part of a x-y positioning assembly. The picker assembly may include an unpowered end effector operable for removing the product from the shelf. The unpowered end effector does not require a motor, servo, or any other electrically driven means for picking a product. Therefore, the unpowered end effector reduces the upfront design, cost, and maintenance required for the existing powered picking systems.
- In an exemplary embodiment, the unpowered end effector is rotatable about an axis between a receiving position and a holding position. Through the movement of the picker assembly by the x-y positioning assembly, the unpowered end effector can engage the product in the receiving position and transfer the product from the shelf to the unpowered end effector in the holding position using the weight of the product. Once the picker assembly possesses the product in the holding position, the picker assembly can deliver the product to a dispensing area for retrieval by the consumer or for any other use.
- The application now will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the application is shown. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, this embodiment is provided so that this disclosure will be thorough and will fully convey the scope of the application to those skilled in the art. Like numbers refer to like elements throughout the number of figures.
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FIG. 1 is an illustrative view of a dispensing apparatus 12 for use with theunpowered end effector 28 of thepicker assembly 18. The dispensing apparatus 12 may include a number ofshelves 14 oriented in a number of rows. Theshelves 14 are configured to supportproducts 16 to be dispensed. Theproducts 16 may be cans, bottles, boxes, or any other product desired to be dispensed. - The
shelf 14 may be inclined as known in the art and includes dividers as known in the art to provide a number of inclined “chutes,” which allow product, especially round product, to slide or roll down to the front of the shelf under the influence of gravity. Any method or device for moving the products along the shelf is contemplated herein. - As illustrated in the exemplary embodiment of
FIG. 2 , at the front edge of theshelf 14 is provided a product support. The product support may be a retention feature in each row to secure the product to the end of theshelf 14. In an exemplary embodiment, the product support includes a comblike lip configuration provided by a number of spaced-apart “shelf fingers” 15 that may extend generally upwardly from the front edge of theshelf 14. Other configurations may be used herein. - The
products 16 may be aligned on theshelf 14 in the individual chutes. Theproducts 16 in the chutes may vary. The combination of the rows ofshelves 14 and the chutes within the rows form anx-y product grid 17 on the dispensing apparatus 12 as shown in the exemplary embodiment ofFIG. 3 . - The dispensing apparatus 12 also includes a x-y positioning assembly for negotiating the
x-y product grid 17. In an exemplary embodiment, the x-y positioning assembly includes ahorizontal device 20 and avertical device 22. Thehorizontal device 20 may include two substantiallyhorizontal rods 21 extending across a portion of the width of the dispensing apparatus in a substantially parallel orientation. One of the rods may be positioned substantially at the top of the dispensing apparatus 12 and the second rod may be positioned substantially at the bottom of the dispensing apparatus. Thevertical device 22 may include avertical rod 23 affixed to thehorizontal device 20 such that thevertical rod 23 may move horizontally across thehorizontal device 20. A motor assembly (not shown) may be included to move thevertical device 22 along thehorizontal device 20. - A
picker assembly 18 may be affixed to thevertical device 22 operable to move up and down the vertical device. A motor assembly (not shown) may be included to move the picker assembly along the vertical device. - In this exemplary embodiment, the combined motion of the
vertical device 22 along thehorizontal device 20 and the motion of thepicker assembly 18 along thevertical device 22 allows thepicker assembly 18 to positioning thex-y product grid 17. A controller may be used to control the x-y positioning assembly and to position thepicker assembly 18 at a desired location on thex-y product grid 17. - It should be understood that the x-y positioning assembly described herein is merely an exemplary embodiment. Any system capable of moving the
picker assembly 18 across thex-y product grid 17 is contemplated herein, including without limitation a system of any number of vertical or horizontal devices to effect movement or a robotic arm system. -
FIG. 4 illustrates an exemplary embodiment of apicker assembly 18. Thepicker assembly 18 includes anunpowered end effector 28. In an exemplary embodiment, theunpowered end effector 28 includes a receivingarea 30 and a holdingarea 32. The receivingarea 30 engages theproduct 16 on theshelf 14 and transfers theproduct 16 to the holdingarea 32. - The receiving
area 30 may include a number of receivingfingers 31. In an exemplary embodiment, the receivingfingers 31 may be substantially linear in shape and be spaced. The holdingarea 32 may include a number ofcurved holding fingers 33 appropriate for supporting aproduct 16 in place. The holdingarea 32 may not include curved fingers but may include a solid structure capable of supporting a product or any other variation thereof. Theunpowered end effector 28 may be rotatable about ashaft 39. Theshaft 39 may engage a cam follower arm 42 which may permit the shaft to rotate between the receiving position and the holding position. -
FIG. 5 illustrates an exploded view of thepicker assembly 18. It should be understood that thepicker assembly 18 is not limited to this embodiment but may be any configuration capable of transferring theproduct 16 from the receivingarea 30 to the holdingarea 32. In the exemplary embodiment ofFIG. 5 , acam block 34 engages with amain plate 36 to form acam reception area cam reception area shaft 39 to permit theunpowered end effector 28 to rotate between the receiving and the holding positions. The cam follower arm 42 and theshaft 39 may further connect with aspring damper system 43 to effect the motion of the cam. The connection may be made through adamper arm 44 or any other suitable mechanism. - The
unpowered end effector 28 is ultimately rotated through the cam system described herein. A receivingslide rod 38 may be positioned with respect to the cam follower arm 42 to push the cam follower arm 42 and rotate theunpowered end effector 28 into the receiving position. The top end of the receivingslide rod 38 may contact a surface to force the receivingslide rod 38 downward in relation to the cam follower arm 42. The downward motion of the receivingslide rod 38 will cause the rotation of the cam follower arm 42. - The
picker assembly 18 may further include a holdingslide rod 40 positioned with respect to the cam follower arm 42 to push the cam follower arm 42 and rotate theunpowered end effector 28 into the holding position. The bottom end of the holdingslide rod 40 may contact a bottom surface to force the holding slide rod upward in relation to the cam follower arm 42. The upward motion of the holdingslide rod 40 will cause the rotation of the cam follower arm 42. - The following is an example of the operation of the
unpowered end effector 28 in dispensing a product from a shelf. Theunpowered end effector 28 dispenses theproduct 16 by capturing theproduct 16 from theshelf fingers 15 of theshelf 14. Theunpowered end effector 28 begins in the receiving position. In the receiving position, theunpowered end effector 28 is rotated such that thefingers 30 are angled downward from vertical. In an exemplary embodiment, thefingers 30 are rotated approximately fifteen to forty-five degrees off vertical The angle of rotation, however, may be any angle appropriate for engaging theproduct 16 on theshelf fingers 15. -
Fingers 30 of theunpowered end effector 28 are positioned between theshelf fingers 15 of theshelf 14. Thepicker assembly 18 then moves upward causing thefingers 30 to remove theproduct 16 from theshelf fingers 15. Thefingers 30 may capture the product by pushing, pulling, scraping, lifting, or performing any other action that forces theproduct 16 from theshelf fingers 15. After removing theproduct 16 from theshelf fingers 15, theproduct 16 falls through gravity to the holdingarea 32 of theunpowered end effector 28. The weight of theproduct 16 on the holdingarea 32 causes theunpowered end effector 28 to rotate to the holding position. In an exemplary embodiment, the holding position is a substantially vertical position as shown in the exemplary embodiment ofFIG. 6 . Thepicker assembly 18 may then move through the x-y positioning system to any desired location to dispense or deliver theproduct 16. - In an exemplary embodiment of operation, the
picker assembly 18 resides in the lower left corner of the dispensing apparatus 12. The pickingassembly 18 may then move vertically along the x-y positioning assembly to cause the receivingslide rod 38 to contact a horizontal surface. The impact of the receivingslide rod 28 with the horizontal surface forces rotation of the cam follow arm 42 and thereby rotates theunpowered end effector 28 into the receiving position. It should be understood that any method or system to get theunpowered end effector 28 in the receiving position is contemplated herein. - Likewise, the holding
slide rod 40 may contact a bottom surface to reset theunpowered end effector 28 into the holding position. In this exemplary embodiment, since the holding position is substantially vertical, theunpowered end effector 28 will not impact any of theshelves 14 or theshelf fingers 15 when moving across thex-y product grid 17. Theunpowered end effector 28 may then selectively be placed in the receiving or holding position as may be desired. - To ensure that a
product 16 was picked by thepicker assembly 18, the dispensing apparatus 12 may utilize a picking notification system to determine whether aproduct 16 was successfully picked. The picking notification system provides a low cost and low maintenance system to sense the picking of aproduct 16. - Picking notification may come from any
event device 50 that creates an event detectable by a detection device (not shown) in the dispensing apparatus 12. The event may be a piezo electric spark, a noise, a light, or any other detectable event. In an exemplary embodiment of theunpowered end effector 28, illustrated inFIG. 7 theevent device 50 may be positioned about theshaft 39 in relation to theunpowered end effector 28. The rotation of theunpowered end effector 28 from the receiving position to the holding position may cause theshaft 39 to rotate thereby causing the piezoelectric spark device to make a piezoelectric spark. A detection device may be located in the dispensing apparatus 12 that can sense the piezo electric spark through heat, light, or any other emissions and therefore notify the dispensing apparatus 12 that aproduct 16 has been picked. The detection device may be based on sound, electrical disturbance or light. An example is a sound, light or electrical noise detector located inside the vendor that is programmed to listen for a response from the emitter positioned onto the picker, at the exact time interval when the product should be dropped into the picker. - In another exemplary embodiment, the dispensing apparatus 12 may be notified of a successful picking of a
product 16 through detection of sound relating to the picking. For theunpowered end effector 28, a significant noise will be made from the transition of theproduct 16 from the receivingarea 30 to the holdingarea 32. A detection device may then detect the noise and alert the dispensing apparatus 12 that a successful picking of theproduct 16 occurred. - Dispensing apparatus 12 also may include a computer system (not shown) integrated with the detection device and the dispensing apparatus to control its operation. As known by those of skill in the art, the computer system may include a general purpose computer, a special purpose computer, or other programmable data processing apparatus designed to control the operation of the dispensing apparatus and store information regarding the operation and use of the dispensing apparatus. The computer system may include a computer-readable memory that can direct the computer or other programmable data processing apparatus to implement a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process. The computer system also may include a hard drive for storing information on the status of the x-y product grid, operating conditions, and use by consumers.
- The computer system may be programmed to instruct the dispensing apparatus on how to operate based on the information gathered from the detection device. If the detection device determines that a product has been successfully picked, the computer system can instruct the dispensing apparatus to dispense the product to the consumer. If the detection device determines that a product was not successfully picked, then the computer system may instruct the dispensing apparatus to attempt to re-pick the product, pick the product from a different location in the x-y product grid, or refund the consumer's money.
- The present application further includes a
pill door 100 for the dispensing apparatus 12. As known by those of ordinary skill in the art, apill door 100 is essentially the door of a vending machine. An embodiment of a pill door is shown inFIG. 8 . As shown in an exemplary embodiment ofFIG. 9 , thepill door 100 may be configured to operate with any x-y picking vending machines. Thepill door 100 may include a dispensing chute 102 for dispensing theproduct 16 through thepill door 100 to a consumer. The dispensing chute 102 may include arake 104 for removing theproduct 16 from anend effector 28 of a pickingassembly 18. Therake 104 may include rakefingers 106 that extend from a back portion of thepill door 100 towards thex-y product grid 17 of the dispensing apparatus 12. In an exemplary embodiment, therake fingers 106 are spaced to interface the holdingarea 32 of theunpowered end effector 28 such that theunpowered end effector 28 may move from above therake 104 to below therake 104 to allow therake fingers 106 to remove theproduct 16. Therake fingers 106 may be declined to permit theproduct 16 to move into the dispensing chute 102 of thepill door 100. - If the
product 16 is positioned in the horizontal orientation, thepill door 100 may include arotation device 108. An exemplary embodiment of arotation device 108 is illustrated inFIG. 10 . Therotation device 108 ofFIG. 10 includes arotation wall 110 oriented at approximately a 45 degree angle. It should be understood that therotation wall 110 may be at any angle that forces theproduct 16 to rotate to a substantially vertical position. In an exemplary embodiment, therotation wall 110 creates space for a chute that is slightly larger than the product. The slightly larger opening permits theproduct 16 to rotate smoothly in the dispensing chute 102. Theproduct 16 moves down therake 106 and into therotation device 108 through the force of gravity. Therotation wall 110 then forces theproduct 16 to rotate into a substantially vertical position as it moves further down the dispensing chute 102. The dispensing chute 102 may include an opening 112 on the other surface of the pill door 160. The opening 112 allows the consumer to have access to a dispensedproduct 16. Due to therotation device 108, the consumer may then receive aproduct 16 oriented in a substantially vertical position. - The
rotation device 108 has the advantage of smoothly rotating and dispensing theproduct 16 to the user. Because thepill door 100 is to be used with an x-y picking vending machine, thepicker assembly 18 can provide theproduct 16 at any desired location within the dispensing apparatus 12. In an exemplary embodiment, the dispensing chute 102 may be positioned above the waist of an average consumer. For example, the dispensing chute 102 can be at a height that does not require the customer to severely bend over to retrieve the dispensed product from the opening. In an exemplary embodiment, the dispensing chute 102 is approximately four feet from the ground. The height can be set to meet ADA requirements or any other height. - The
pill door 100 may further include a money return device positioned above the waist of an average consumer. The height of the money return device is positioned to prevent the consumer from having to bend over to retrieve change or a refund of its money. - Many modifications and other embodiments of the application will come to mind to one skilled in the art to which this application pertains having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is to be understood that the application is not to be limited to the specific embodiments disclosed and that modifications and other embodiments are intended to be included within the scope of the appended claims. Although specific terms are employed herein, they are used in generic and descriptive sense only and not for purposes of limitation.
Claims (20)
1. A mechanical picking system for a x-y picker dispensing apparatus, comprising:
at least one substantially horizontal shelf operable for supporting a product; and
a picker assembly comprising an unpowered end effector;
wherein the unpowered end effector comprises a plurality of receiving fingers and a holding area wherein the unpowered end effector is rotatable with respect to the shelf to enable the fingers to transfer the product from the shelf to the holding area.
2. The system of claim 1 , wherein the holding device comprises a plurality of curved fingers.
3. The system of claim 1 , wherein the unpowered end effector is rotatable between a receiving position and a substantially vertical holding position.
4. The system of claim 3 , further comprising a receiving slide rod positioned upward of the picking system operable to rotate the unpowered end effector into the receiving position upon an impact with a substantially horizontal surface.
5. The system of claim 4 , wherein the unpowered end effector is rotated by the first slide rod using a cam and a spring.
6. The system of claim 1 , wherein the substantially horizontal shelf comprises a product support for holding the position of the product.
7. The system of claim 6 , wherein the product support comprises a plurality of shelf fingers.
8. The system of claim 7 , wherein the plurality of receiving fingers of the unpowered end effector are positioned to fit between the plurality of shelf fingers of the product support such that the unpowered end effector can vertically move above and below the shelf.
9. The system of claim 8 , wherein the unpowered end effector while in the receiving position can move vertically between the plurality of shelf fingers of the product support to engage the product; and
wherein the unpowered end effector can rotate into the holding position from the weight of the product transitioned onto the holding area.
10. The system of claim 1 , wherein the dispensing apparatus further comprises a dispensing device operable to receive the product delivered by the unpowered end effector.
11. A method of vending a product from an x-y dispensing apparatus, comprising:
positioning an end effector of a picker assembly under a product positioned on a substantially horizontal shelf;
moving the end effector upward to lift the product off of the shelf with the end effector;
rotating the end effector to hold the product; and
dispensing the product from the dispensing apparatus.
12. A notification system for a dispensing apparatus, comprising:
an event device affixed to a picker assembly wherein the event device is operable to create an event upon successful capture of a product by the picker assembly; and
a detection device for sensing the event.
13. The system of claim 12 , wherein the event device comprises a piezo electric spark device.
14. The system of claim 13 , wherein the event is a piezo electric spark.
15. The system of claim 12 , wherein the detection device comprises a acoustic sensor or optical sensor to detect the event.
16. The system of claim 12 , further comprising a computing device connected to the detection device to determine whether a successful pick occurs and to determine whether to dispense the product, attempt to re-pick the product, or supply a refund.
17. A pill door for a dispensing apparatus, comprising:
a dispensing chute for dispensing a product from the dispensing apparatus to a consumer; and
a rotation device to rotate the product from a substantially horizontal position to a substantially vertical position.
18. The system of claim 17 , further comprising the dispensing chute being positioned at least three feet above the ground.
19. The system of claim 17 , wherein the rotation device comprise a rotation wall position at an angle to cause the product to rotate.
20. The system of claim 17 , wherein the dispensing chute comprises a rake to remove the product from an end effector of a picking assembly.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/876,427 US20090101614A1 (en) | 2007-10-22 | 2007-10-22 | Unpowered End Effector for Dispensing Apparatus |
PCT/US2008/075666 WO2009055154A1 (en) | 2007-10-22 | 2008-09-09 | Unpowered end effector for dispensing apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/876,427 US20090101614A1 (en) | 2007-10-22 | 2007-10-22 | Unpowered End Effector for Dispensing Apparatus |
Publications (1)
Publication Number | Publication Date |
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US20090101614A1 true US20090101614A1 (en) | 2009-04-23 |
Family
ID=40076834
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/876,427 Abandoned US20090101614A1 (en) | 2007-10-22 | 2007-10-22 | Unpowered End Effector for Dispensing Apparatus |
Country Status (2)
Country | Link |
---|---|
US (1) | US20090101614A1 (en) |
WO (1) | WO2009055154A1 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
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US20150206373A1 (en) * | 2012-08-24 | 2015-07-23 | Supercooler, Inc. | Beverage vending machine and method for controlling temperature of vending machine |
US9708123B2 (en) * | 2015-08-25 | 2017-07-18 | Carefusion Germany 326 Gmbh | Device and method for delivering a piece good |
US10071859B2 (en) | 2015-08-25 | 2018-09-11 | Carefusion Germany 326 Gmbh | Picking device and method for operating a picking device |
EP3863417A4 (en) * | 2018-10-08 | 2022-07-06 | Pepsico Inc | Slush beverage dispenser and slush beverage dispensing methods |
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EP3863417A4 (en) * | 2018-10-08 | 2022-07-06 | Pepsico Inc | Slush beverage dispenser and slush beverage dispensing methods |
Also Published As
Publication number | Publication date |
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WO2009055154A1 (en) | 2009-04-30 |
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Legal Events
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AS | Assignment |
Owner name: THE COCA-COLA COMPANY, GEORGIA Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:KIRSCHNER, JONATHAN;SLAGLEY, DAVID;CREDLE, WILLIAM S.;REEL/FRAME:019994/0964;SIGNING DATES FROM 20070927 TO 20071012 |
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STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |