Note: Descriptions are shown in the official language in which they were submitted.
212~2~8
COMPU~ER CONTROLI.ED MACHINE FOR VENDING
PERSONALIZED PRODUCTS OR 'THE LIKE
BACKGROUNI~ OF THE INVENTION ~ ~
:~:
1. Field of the Invention
This invention relates to a vending machine and
more particularly to an interactive machine which dispenses
greeting cards or other personalized products selected by a
customer. The machine provides readily understandable
information as to available products and their attributes
and of the steps required for selection thereof so as to be
readily operable by a customer without assistance. It is
reliable, ef~icient and fast in operation, i~ usable with a
variety of types of products is otherwise very versatile,
and it is manufacturable at relatively low cost.
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2. Backqround of the_Prior Art ~
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U.S. Patent No's. 3,892,427 and 3,922,744 disclose -
methods for the production of personalized "M~" books in
which, for example, the name of a child who is to receive a
story book is printed in the text of a story book. In the -~
production of such books, a computer was used to control a
printer to print variable data on preprinted sheet material
to form sheets which were bound together in a separate
operation to provide the final hard cover book product. As
disclosed, many types of variable data could be stored in
the computer and such variable data may include quality
control indicia which may include check bars or other
graphics. -~
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The Rosewarne et al. U. s. Patent No. 4,616,327 : .
- discloses methods similar to those disclosed in the "ME" -
book patents and the printing of specific types o~ graphics
including pictorial figures having physical characteristics
similar to personalized data introduced into the system. A
standard microprocessor is programmed to provide storage and
combining functions after personalized data is introduced
into the system by temporary storage by the purchaser or
user on a storage medium such as a punched card. One or
more plotters are used for producing th~ final product, an
eight pen plotter being disclosed.
. ~ ,. ~,
Many vending machines have heretofore been
provided for vending of cans, bottles, hot and cold liquids
in cups, sandwiches, candy, combs, and various other
products, each machine being typically designed to handle
only products which have a physical size and shape within a
certain limited range. Typically, a customer inserts a coin
in a slot and makes a selection by pushing a button ox by
effecting movement of an article carrier to position a
selected article at~an exit position.
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SUMMARY OF THE INVENTION
" :,,
This invention was evolved with the general object
of providing a machine for vending greeting cards and
similar personalized products and which is readily operable ~;
by a customer without assistance to obtain personalized or
customized products of his or her choice.
Another object of the invention is to provide a ~ -
machine which is reliable, efficient and versatile while
being manufacturable at relatively low cost.
. '
A further object of the invention is to provide a
machine which displays identifications of available
products and desirable attributes and features thereof and
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of modes of selection such as to facilitate selection of
products and the desired attributes and features by the
customer.
Another object of the invention is to provide a
flexible manufacturing platform which allows for quick
changes of product storage means to allow different products
to be manufactured to customer's preferences.
A still urther object of the invention is to
provide a "just-in-time" manufacturing platform in which ~.
products are tailored to the customer's preference at the
time of purchase, one at a time.
A machine constructed in accordance with the
invention includes an enclosure with selection and payment
means on the outside thereo~ and with product storage and
handling means on the inside thereof, all coupled to a
computer which is on the inside of the enclosure and which
is programmed to deliver a selected product to a receptacle
from which it may be removed by the customer. ~:
Preferably, available products and their desirable
attributes and ~eature are identified both audibly and
¦ visually and the computer is programmed to control
presentation of a sequence o~ images and associated sound.
In accordance with an important feature, it controls a :
general presentation of a series of descriptions of
available products and their features with instructions as
to initiating use of the machine. When a customer initiates
use of the machine, the computer then controls presentations
~: of specific instructions to the customer to make it possible :~ ~
to make selections easily, quickly and accurately. After a 1:-
customer's selections are effectsd, the computer again ~ :
controls the general presentation and repeats it until
another customer's use is initiated. Thus the audible and ::
visual capabilities of the machine are used to maximum : ~:
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advantage.
In an illustrated embodiment, the images are
presented on a CRT screen which is also usable as a touch
screen for selection of the desired product and the desired
features and attributes thereof. The touch screen or a
keyboard or other input device may be used, for example, to
select from among a number of different birthday cards and
to enter the name and birthdate of the intended receiver,
the name of the sender and other personalized data.
After a customer selects and pays for a greeting
card or other product, a data entering mode may be
initiated in which he or she is asked to enter data or
otherwise select the form of the final product, as by
entering the names of the receiver and sender of a birthday
card, for example. The data entering mode may further
include operations for viewing and correction of entered `~
data.
,:
Important features of the current embodiment of - ;~
the invention relate to the handling of a product, wherein a ~ ~;
product is selected, transferred to modifying apparatus such
as a printer and subsequently transferred therefrom to a ~ ~-
delivery receptacle. An illustrated machine includes a
robot which is so positioned relative to stored products
and the printer or oth-r modifying apparatus as to~ ~-
facilitate selection of a product and transfers to and from
the modifying apparatus. Preferably the robot includes a
turret head which is rotatable about a fixed axis with a
transfer head supported from the turret head through an
articulated arm assembly and with the stored products and
modifying apparatus positioned in angularly spaced relation `
For transfer of products such as printed forms, -
envelopes and other sheet materials or the equivalent, the
transfer head preferably includes suction cups. The
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products may preferably be compactly stored in stacks in a
stepped relationship such that a portion of an end product
of each stack is accessible for engagement by suction cups
of the transfer head. In the alternative, electro-
mechanically operated and slidable magazines or turrets
may present products to a material handling device such as a
robot.
The product handling apparatus may also include a
transfer device for receiving products from the robot and
transferring the products to a delivery receptacle, so
arranged as to obtain a compact machine and rapid and
efficient handling of the products. The transfer device is
arranged in angularly spaced relation to the modifying
apparatus and to the stored products. Preferably, the
device is ro~atable about an axis parallel to the turret
axis, between an angular position for receiving products
from the robot and an angular position for delivery of
products to the delivery receptacle. In a preferred
construction the turret axis is a vertical axis and the
transfer device is movable vertically to elevate products to ~;
a position at which they can be dropped into a delivery ;
receptacle which is conveniently located at an elevated
position in relation to the robot.
Still further features relate to the control of
operationR such as~to facilitate rapid and efficient
delivery of products. For example, after a customer selects
and pays for a product, the transfer of the s~lected product
from storage to a printer or other modifying apparatus is
initiated immediately and is preformed while the customer is
making selections of data for printing or other ~-
modifications of the product. Also, while printing or other -~
modifications are taking place, other required operations i
may take place, such as the selection of an envelope
appropriate for a selected form of greeting card.
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The machine of the invention is very versatile.
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The machine of the invention is very versatile. It can
be readily programmed and otherwise adapted for use in a wide
variety of types of products, for rapid, efficient and reliable -
selection and delivery thereof.
The machine of the invention is additionally ~ ;~
advantageous in that it can compile sales information covering
different time periods, e.g. one day or one month, which can then
be summarized and evaluated in accordance with specific
requirements.
According to a broad aspect of the invention there is
provided a machine for delivering a product which may be
automatically personallzed by the customer at the time of purchase
and which is selected from a plurality of dlfferent products, said
machine comprising: storage means for storing base products,
delivery receptacle means, product handling means for effecting a
series of operatlons and including electrically controllable
transfer means for effecting transfer of a base product from said
storage means, electrlcally controllable modification means for
effecting modification of said base product to produce a modified
base product and lectrically controllable delivery means for
effecting delivery of said modified base product to said delivery
receptacle means, an enclosure containing said storage, receptacle
and product handling means therewithin, selection means operable
.: ,:
by a customer on the outside of said enclosure to effect entry of
control data which defines the desired final form of the ~:
personalized product to be delivered to the customer, and computer
means within said endlosure and coupled to said selection means
and to said electrically controllable transfer, ~odification and
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- delivery means of said product handling means, said computer means ~
controlling said transfer, modification and delivery means of said :~:
product handling means to perform a series of operations in
accordance with said control data, said series of operations being
performed within said enclosure without operator intervention and
including transfer of a base product from said storage means, ~.
modification of a base product transferred from said storage means
and delivery of the desired final form of product from said
modification means to said delivery receptacle means, .;
whereln said selection means includes display means arranged
,: ,, . .,:
for display of said different products for selection by a
. .: ,
customer. . ;:.
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According to another broad aspect of the invention there
is provided a machine for delivering a product which may be ; ` ^ ;
automatically personalized by the customer at the time of purchase :~
., , - ., .
: and which is selected from a plurality of different types of .: ~:
products, said maohlne comprislng, storage means for storing base ~
products, delivery~;receptaole means, product handling means for : -
effecting a series of operations includlng transfer of a base
product from said storage~means, modification of said base product ;
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to produce a modified~base product and delivery of said modified - ~
base product to said delivery receptacle means~ an enclosure -: ;
containlng said storage, receptacle and product handllng means
therewithin, payment means operable by a customer on the outside
of said enclosure~to effect payment of a product, selection means
operable by a customer on the outside of said enclosure to effect
entry of control data which defines the desired final form of the ~- :
personalized product to be delivered to ~he customer, and computer
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means within said enclosure and coupled to said payment, selection
and product handling means, said computer means controlling said
product handling means following payment by a customer to perform
said series of operatlons in accordance with said control data and
to effect delivery of the desired final form of product to said
delivery receptacle means, wherein said storage means include
means for storing a stack of base products in the form of sheets
of sheet material and wherein said handllng means comprises ~ -~
suction pick-up means cooperative wlth said storage means for :
frlctional engagement with a leading sheet of said stack to effect
an initial separation from remainlng sheets of said stack followed
by the appllcation of suctlon to complete removing of said leading ~ .
sheet from said stack, and whereln said storage means include .
restraining means engageable with end edge portions of sheets of
said stack adjacent slde edges thereof, said leadlng sheet being ~ I
buckled to move past said restraining means durlng said initial
separation while said restralnlng means prevent movements of
sheets behlnd said leading sheet.
According to another broad aspect of the invention there .
i~ 20 is provided a machine for delivering a product selected from a
plurality of different types of products, said machine comprising:
presentation means for presenting identification of said products,
selection means for entry of a selection of one of said types of
products, payment means operable to effect payment by a customer
for a selected product, receptacle means for holdlng a selected
and delivered product until removal by a customer, an enclosure
supporting said presentation, selection, payment and receptacle
means, storage means within said enclosure including a plurality
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of separate compartments for storing said plurality of different
types of products, product modification means within said
enclosure for effecting controllable modifications of each of said
plurality of different types of products, product transfer means :::
within said enclosure arranged to move a single product away from
a compartment and to said modification means and to thereafter
move the product after modification to said receptacle means, and
control means within said enclosure and coupled to said product : -
identification, selection, payment, product modification and ~ .
product transfer means, said control means including computer ;
means programmed to control operation of said presentation means ~ : :
and to respond to payment and entry of a selection by a customer
to effect movement of a corresponding product away from one of
said compartments and to sald receptacle means, said presentation ; ~.
means belng controllable by sald computer after a payment by a .
customer to operatlon in a selection mode to present instructions ~ ~:
for further operations by the customer to effect selections of a
produc~ and to effect selections of modification of the selected
product in accordance ~ith preferences of the customer.
According to another broad aspect of the lnventlon there
is provided a machine for dellverlng a product which ls selected
from a plurality of different types of products, said machine
comprising: storing means for storing base products, delivery
receptacle means, product handling means for effecting a series of
operatlons includlng transfer of a base product from said storage
means, modiflcatlon of sald base product to produce a modified
base product and delivery of said modified base product to said
delivery receptacle means, an enclosure containing said storage,
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6d
receptacle and product handling means therewith, selection means
operable to effect entry of control data which defines the desired :'`
final form of a product to be delivered to said delivery
receptacle means, and computer means within said enclosure and :
coupled to said selection and product handling means, said storage
means being arranged to store a plurality of base products of :
different types, and said product handling means including
modificatlon means for effecting modifications of sald base
products and transfer means for selective transfer of said base .
products of different types to said modification means and
transfer of modified base products to said delivery receptacle
means, said computer means controlling sald modlfication and
transfer means of said product handllng means in accordance wit
said control data to transfer a selected base product to said -
modification means and to effect modification of the selected base
~.
product ln accordance with said control data and to then effect
: transfer of the desired final form of product to said delivery
receptacle means, wherein said selection means includes means for
` :
presenting options for selection including a type select option
determinative of the type of base product to be delivered to said
: modification means and modification options determinative of
modlfications to be performed by said modification means, said
type select option being presented prior to said modification
options, and computer means being operative in response to said
type select option to initiate transfer of the selected type of
base product to said modification means while said modification
options are presented for selection by said selection means.
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According to another broad aspect of the invention there ~ :~
is provided a machine for delivering a product which ls selected ~;
from a plurality of different types of products, said machine ~:~
,: .
comprising: storage means for storing base products, delivery ~ :
receptacle means, product handling means for effecting a series of :
operations including transfer of a base produc~ from said storage
means, modification of said base product to produce a modified
base product and delivery of said modified base product to said ~:.
delivery receptacle means, an enclosure containing said storage, ~:
receptacle and product handling means therewith, selection means
operable to effect entry of control data which defines a desired ~-
: final form of a product to be delivered to said delivery : ~
receptacle means, and computer means within said enclosure and : .
coupled to said selection and product handling means, said storage
means being arranged to store a plurality of base products of
different types, and said product handling means including
modification means for effecting modifications of said base
products and transfer means for selective transfer of said base
products of dlfferent types of said modification means and
transfer of modified base products to said delivery receptacle
means, said computer means controlling said modification and :
transfer means of said product handling means in accordance with
said control data to transfer a selected base produc~ to said
modification means and to effect modification of the selected base
product in accordance with said control data and to then effect
transfer of the desired final form of product to said delivery
receptacle means, wherein said selection means includes means for
presenting optlons for selecelon incluùlng a type sele~t option
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determinative of the type of base product to ~e delivered to said
modification means and modification options determinative of ; ;
modifications to be performed by said modification means, said ~ ~ :
type select option being presented prior to said modification . ~:
options, and computer means being operative in response to said ~.;
type select option to initiate transfer of the selected type of ~ .
base product to said modification means while said modification -:
options are presented for selection by said selection means,
wherein said transfer means are arranged for transfer of base :.:
products of certain types for assembly with modified base products
of other types to produce the desired final product, and wherein :~
said computer being operative to control said transfer means to ~.~
effect transfer of a base product of one of said certain types to .:
an assembly point while controlling sald modification means to : . ;
modify a base product of one of said other types and to thereafter
control said transfer means to transfer a modified base product
from said modification means to said assembly point.
~ According to another broad aspect of the invention there
: is provided a machine for delivering a product which is selected
from a plurality of different~types of products, said machine
:: : comprising, storage means for storing base products, delivery
receptacle means, product:handling means for effectlng a series of
operations includlny transfer of a base product from said storage :~
meansl modification of said base product to produce a ~odified
basc product and delivery o~ said modified base product to said
delivery receptacle means, an enclosure containing sald storage, :
receptacle and product handling means .therewithin, selection means
operable to effect entry of control data which defines a desired
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- final form of a product to be delivered to said delivery
receptacle means, and computer means within said enclosure and - .
coupled to said selection and product handling means, said storage
means being arranged to store a plurality of base products of :.
different types, and said product handling ~eans including .
modification means for effecting modifications of said base:
products and transfer means for selective transfer of said base
products of dlfferent types to said modification means and
transfer of modifled base products to sald delivery receptacle ::
10 means, said computer means controlling said modiflcation and :
transfer means of sald product handllng means in accordance with
. . .
said control data to transfer a selected base product to said
modification means and to effect modification of the selected base
product in accordance with said control data and to then effect
transfer of the desired final form of product to said delivery
receptacle means, wherein said tran~fer means includes a turret
head pick-up means supported by said head, said turret head being :
rotatable about a vertical axis to selectively position said pick- .
up means opposite storage and modification stations at different .
angular positions about said axis and said pick-up means being
operable for pick-up of a base product at a storage station and
trans~er thereof to a modification station.
According to another broad aspect of the invention there
is provided a machine for delivering a product selected from a
plurality of dif~erent types of products, said machine comprising:
presentation means for presenting identifications of said
products, selection means for entry of a selection of one of said
types of products, payment means operable to effect payment by a :~
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customer for a selected product, receptacle means for holding a
selected and delivered product until removal by a customer, an
enclosure supporting said presentation, select-ion, payment and
receptacle means, storage means within said enclosure including a
plurality of separate compartments for storing said plurality of
different types of products, product handling means within said
enclosure arranged to move a single product away ~rom a :~
compartment and to move the product to said receptacle means, and
control means within said enclosure and coupled to said product
identlfication, selection, payment and product handllng means,
said control means including computer means programmed to control
operation of sald presentation means and to respond to payment and
entry of a selection by a cus~omer to effect movement oi a
corresponding product away from one of said compartments and to
said receptacle means, and said presentation means being
: controllable by said computer to operate in an introductory
,
presentation mode, said presentation means in said introductory
presentation mode being operable to present a sequence of
identifications of said products and desirable attributes and :~
features thereof to:p-rsons in the vicinity of said machine
without said per~ons phyæically coming in contact with said
machine and said presentation ~eans in said introductory
presentation mode being additionally operable to present operating
instructions to persons in the vicinity of said machine, whereby
persons in the vlcinl~y of the machine are better enabled to make
an informed choice as ~o whether to use the machlne and are better .
prepared for operation of the macùlne upon deciding to do so.
According to another broad aspect of the invention
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there is provided a machine for delivering a greeting product,
said machine comprising: storage means for storing base products,
delivery receptacle means, product handling means for effecting
operations including transfer of a base product from said storage
means, modification of a transferred base product to produce a ~ ~;
personalized greeting product having personalized graphic and text
greeting information thereon and delivery of said personalized .
greeting product to said delivery receptacle means, selection
means operable by a customer to effect entry of control data which ::
defines said personalized graphic and text greeting information
and thereby the desired final form of a personalized greeting
product to be delivered to said dellvery receptacle means, and :
computer means arranged to control operation of said handling
means and said selection means to effect said transfer,
modification and delivery operations in accordance with said
control data entered by a customer, said computer means being also
arranged to store utility files and to effect operations in
conjunction with said stored utility files.
According to another broad aspect of the invention there
20 is provided a machine for delivering a personalized greeting
product, said machine comprising~ storage means for storing base
products and for storing packages for completed greeting products,
delivery receptacle means, product handling means for effecting
operations including transfer oi a base product from said storage . ~.
means, modification of a transferred base product to produce a
complete personalized greeting product and delivery of said
completed personalized greeting product to said delivery ~ .
receptacle means, selection means operable by a customer to effect
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6j :.
entry of control data which defines the deslred final form of the ..
personalized greeting product to be delivered to the customer, and
computer means arranged to control operation of said handling ~ ~
means and said selectlon means to effect said transfer, : ~:
modification and delivery operations in accordance with said :
control data entered by a customer, said product handling means :
being also arranged for transfer of a package from said storage
means to said delivery receptacle means, whereby the customer may
remove both said completed personalized greeting product and said .
package from said delivery receptacle means and place said ~:~
completed personalized greeting product in said package. -~
According to another broad aspect of the invention there .~-
is provided a machine for delivering a greeting product, said ~-
machine comprising. storage means for storing base products, .
delivery receptacle~means, product handling means for effecting ~ ~.
operations including transfer of a base product fron said storage ~ ..
means, modification of a transferred base product to produce a
personalized greetlng product having personalized graphic and text
greeting information thereon and delivery of said personalized
greeting product to said~delivery receptacle means, selection
means operable by a customer~to effect entry of control data which
defines said personalized graphic and text greeting information ~:
and thereby the desired final form of a personalized greeting
product to be de~livered to said delivery receptacle means, and ~
. -.
computer means arranged:to control operation of said handling
means and said selection means to effect said transfer, : :
modification and delivery operations in accordance with said
control data entered by a customer, an enclosure supportlng said
: :
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storage means, receptacle means, and product handling means, :-;
speaker means for reproducing audio signals, and audio signal
means for supplying audio signals to said speaker means to supply ~ ;
information to aid a customer in operation of said selection
means
According to another broad aspect of ~he invention there ;
is provided a machine for dellverlng a greetlng product, said
machlne comprising: storage means for storing base products,
delivery receptacle means, product handling means for effecting
operations includlng transfer of a base product from said storage
means, said product handling means includlng robot means,
modification of a tran~ferred base product to produce a
personalized greeting product having personalized graphic and text
greeting information thereon and delivery of said personallzed
greeting product to said delivery receptacle means, selection
~eans operable by a customer to effect entry of control data which
defines said per onalized graphic and text greeting information
and thereby the desired final form of a personalized greeting
product to be delivered to said delivery receptacle means, and
computer means arranged to control operation of sald handling
means and Yaid selection means to effect sald transfer,
modification and delivery operations in accordance with said
control data entered by a customer, said computer means being also
arranged to store utility files and to effect operations in
conjunction with said stored utility files, said stored utility
files including robot path files.
Accordlng to another broad aspect of the invention there
is provided a method of on-site manufacture and vending o~ social
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61 ~ .
expression cards, comprising the steps of~
inputting a plurality of social expression card designs into
an information storage and retrieval system ~or storing,
referencing, and retrieving the social expression card designs,
where each of the social expression card designs comprises a front
page and an inside page and each social expression card design is ~ : -
uniquely identi~ied by a plurality of special occasion parameters, ; - :
and where the special occasion parameters are used to group social
expresslon card desi~ns with like special occasion para~eters into ~:
~ields; :
querying the custo-ner for a plurality o~ input data set --:
items, all of the plurality of input data set items belng special
occasion parameter~ to identify a field of social expression card ;~
designs; .:
searching the information storage and retrieval system for
social expression card designs having special occasion parameters
that match those input by the customer;
displaying those social expresYion card de3igns having
special occasion parameters that match those input by the
0 customer;
selectlng a soclal expression card design to be reproduced;
and
reproducing said selected social expression card design in
tangible form.
According ~o another broad aspect of the invention there
is provided apparatus for the on-site reproduction and vending of
social expression cards in response to a plurality of input data
set items provided by a customer, comprising~
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information storage and retrieval means for storing, ~ :
referencing, and retrieving a plurality of social expression ca~ :
designs, each of said social expression card designs being
uniquely identified by a plurality of special occasion paramete .
querying means for querying the customer to select from am~
the plurality of input data set items, where all of said plurali~
of input data set items are special occajion parameters that
identify types of social expression card designs;
- dlsplay means for displaying those social expression card
designs that have special occaslon parameters that match those
special occasion parameters selected by the customer;
reproducing means for reproducing special expression card
deslgns in tanglble form; and ;~:
control means connected to sald informatlon storage and
¦ retrieval means, querying means, dlsplay means, and reproducing
means for controlling and coordinatlng the operatlon thereof.
This lnventlon contemplateY other objects, features and
advantage~ which will become more fully apparent from the
folIowing detalled description ~aken in con~unction with the
accompanying dra~ings.
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BRIE~_DESCRIPTION OF THE DRAWINGS
FIGURE 1 is a perspective view of a greeting card
dispensing machine constructed in accordance with the
invention; .~::~
FIGURE 2 is a rear perspective view of the machine :~
o~ Figure l, with a rear wall thereof removed;
," :','~,'.',
FIGUR~ 3 is a horizontal sectional view taken
substantially along line III-III of Figure 2 and showing a - :~
robot and associated structures within the machine;
FIGURE 4 is a perspective view illustrating the
pick-up of a sheet o~ material from a storage rack; ~ :-
FIGURE 5 is a per~p~ctive view illustrat~ng the : ;
delivery o~ a sheet of material to a printer;
: :. ' . ~:
- FIGURE 6 is a perspective view illustrating the
delivery of a sheet o~ material to a transfer device;
FIGURE 7 is an elevational sectional view
illustrating a transfer devic~ of the machine in an elevated ~ -
delivery po-aition;
' :
~IGURE 8 i~ a schematic diagram which illustrates
the various co~ponents o~ the machine and thQ functicnal
relationship and interaction thereof;
FIGURES 9A and 9B form a flow chart illustrating
various operations per~ormed by the machine under computer
control; ;~
~IGURES lOA and lOB form a flow chart il}ustrating
instruction and selection processes performed by the machine
under computer control;
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- FIGURE 11 illustrates a portion of a form storage ~ ~:
bin and suction cups used in picking up a form;
FIGURE }2 is similar to Figure 11, but illustrates
the condition after moving the cups upwardly a short
distance 7
FIGURE 13 illustrates an upper corner portion of a
bin, on an enlarged scale;
FIGURE 14 is a side view of a bin with a portions
of a side wall broken away; and
PIGURE 15 is a sectional view illustrating the
condition of forms after movement as shown in Figure 12, the
thicknesses of forms being exaggerated for clarity of
illustration .
DESCRIPTION OF A PREFERRED EMBODIMENT
Reference nu~eral 10 generally designate3 a
vending machine which is constructed in accordance with the
principles of thi~ invention and which i3 designed for
vending personalized greeting cards. It should ~e
understood that various features of the invention are not
limit~d to a vending machine for personalized greeting cards .
and may be used in conjunction with ths vending of other
products o~ sheet material as well as in the vending of
other products. ~
2 5 The machine 10 includes presentation means
including a screen 11 which is operable to present -
identifications of the available greeting card products and
also including voice generating means for developing an
associated audible description of products. In an ~ ~:
introductory presentation ~ode, such presentation means are
.~
,
21~2~
operable to present a sequence of identifications of the
available greeting cards and desirable attributes and
features thereof to persons in the vicinity of the machine
10. Operating instructionq are also presented in the
introductory presentation mode.
By way of example, the machine 10 may be used to
vend products including l'The 8irthday Times", "The
Anniversary Times", a number of "Peanuts" birthday greeting
cards, and also a Santa Claus greeting. In each case, the
name or names of the receiver or receivers may be printed on
the product and the name of the sender of the product may
al~o be printed, when appropriate. In the case of "The
Anniversary Times" product and "The Birthday Times" product,
text re}ating to the birthdate or the anniversary date may
lS be printed on the card in a manner as h~reinafter described.
In the illustrated embodiment, the screen 11 is
operabl~ as a touch screen for selection of the product and
for entering of name, date and other data. The customer is
invited to touch a portion of the screen to indicate an
intention to purchase a selected one of the available
products and i~ then instructed audibly through voice
generating means and vi~ually through the screen 11 to
effect payment ~or the product. Payment may be effected by
insertion o~ coin~ in a coin slot 12, insertion of a bil} in
a bill receiving device 13 or temporary insertion of a ~-~
credit card in a credit card reader 14. Change cup 15 is
provided for ~elivering any change which may be due, and a
receipt 16, as indicated, may b~ delivered through a receipt ~-
delivery slot 17.
:
As an example of the operation, th~ customer may
touch a portion of the screen labeled "The Birthday Times"
and he or she is then asked to pay a specified prica by
depositing coins, a bill or effecting a credit card entry.
,.~
212~ 228
-- 10 -- ~
Then a screen is produced bearing the letters of the
alphabet and the customer is asked to touch the screen to
enter the first name of the recipient and then the last name
of the recipient.
Next, a screen is produced bearing indicia of the
month of the year and the customer is asked to respond,
additional screens being produced for entry of the date and
year of birth of the recipient. Then a screen image is
produced which reproduces the entries made by the customer
who is then asked if any corrections are necessary. If he
or she answers "yes", screens are produced for selection of
the entry to be corrected and instructing the customer how
to make changes. Once the entry is approved by the
customer, the screen and associated voice reproduction are
produced thanking the customer and telling the customer that
the greeting card will be printed. With variations, similar
types of programs are used for "The Anniversary Times",
"Peanut~" cards and "Letter from Santa".
A delivery receptacle 18 is provided into which
the selected product is delivered, along with envelope or
other required associated materials. The delivery
receptacle 18, th~ screen 11, coin slot 12, bill receiver 13
and credit card reader 14 are positioned on an inclined ;
front panel 20 of a housing 21. The change cup 15 and
receipt dellvery 510t 17 are in a front panel 22 below the
inclined panel 20. The housing 21 further includes side ;;
walls 23 and 24 and a rear wall 25. At ~he top, an
ornamental neon light structure 26 is provided.
As shown somewhat diagrammatically in Figures 2 ;
and 3, a robot 28 is provided within the housing ~1. Robot ; -~;
28 operates to pick up a pre-printed form from a storage
rack 30 and to deliver the form to a printer 31 for printing
of personalized data thereon. While the personalized data
is being printed, the robot 28 may pick up associated
-`" 2 1 2 ~ 2 2 8
11 - `` :"`.. -
materials such as an envelope and folder from a storage rack
32 and deliver such materials to a handling device 34. In
xeferences hereinafter to the envelope storage rack 32 and
to trans~ers of envelopes therefrom, it should be understood
that associated materials in addition to or other than an
envelope may be transferred.
After printing of personalized data on the pre-
printed sheet is completed, the robot 28 moves the sheet to
the handling device 34. Handling device 34 is then operated ~`
to be rotated and elevated to a position for delivery of the
printed sheet and envelope to the delivery receptacla 18
and, for brevity, device 34 is referred to herein as the
elevator 34. `
Figure 3 is a rear perspective view of the machine
with the rear wall 25 removed. The robot 28 includes a `~
turret head 36 which is rotatable about a vertical axis and
which is connected to a transfer head 38 through an
articulated arm asc-mbly whlch includes a first pair of
parallel link~;39 and 40 each pivotally connected at one end
to the head 36 and a s~cond pair of parallel links 41 and 42
having ends pivotally connected to opposite ends of links 39
and 40 and having opposite ends pivotally connected to the
transfer head 38~. The transfer head 38 includes a pair of
~;~ suction cups 43 and 44 ~or engaging, holding and releasing
sheets, envelopes or other products to be handled by the
machine.
The robot 28 is a com~ercially available type of ~ ~ I
robot and includes electro-mechanical components which are
not sh~wn in deta~ Such components are responsive to
applied electrical signals to accurately control rotation of
; the turret head 36 about a vertical axis, rotation of links ~ -
39 and 40 about a horizontal axi~ of rotation relative to
the turret head 36, rotation of the links 41 and 42 about a
horizontal axis relative to the links 39 and 40 and rotation
2~21228 -
- 12 -
of the transfer head 38 about a horizontal axis relative to
the links 41 and 42.
The storage racks 30 and 32, which are used for
pre-printed forms and envelopes in the disclosed machine,
have similar constructions. Each has a series of vertically
extending compartments arranged in steps, each compartment
being arranged to receive a stack of forms or envelopes,
with an uppermost portion of the outer form or envelope of
each stack being exposed and facing radially inwardly toward
the axis of rotation of the turret head 36, so that it may
be engaged by the suction cups 43 and 44 of the transfer
head 38.
, .,~.
Figure 4 shows the pick-up of a form 45 from the
uppermost stack of rack 30, it being noted that Figures 11-
15 show in more detail specific and important features
relating to the construction of the rack 30 and the
interaction of the suction cups 43 and 44 with the form 45,
operative to obtain highly reliable operation as hereinafter
discussed in conjunction with Figures 11-15. The uppermost
stack of the rack 30 may, for example, contain forms ~ :
~ : entitled "The Anniversary Times". To pick up one of such :~
- forms, the robot is so controlled as ~o position the .;~
; transfer head 38 in horizontal alignment with the exposed
upper portion of the~form 45, the transfer head 3~ being : .
then moved radially outwardly until the suction CUp5 43 and
44 engage for~ 45. Then the suction cups are moved upwardly .~
a short distance to separate the single exposed form from "
the second form therebehind, and then suction is applied to
. the cups 43 and 44, this operation being described in more :~
~:~ 3Q detail în conneation:with Figures 11-lS. After suction is
applied, the transfer head 38 is then moved further upwardly :~
to a position at which the lower edge of the form 45 clears
the upper edges of all forms in the storage rack 30.
After plcking up the form 45 from the storage rack
2121228
- 13 -
. ...
30 and after moving the transfer head 38 radially inwardly, ~-
the turret head 36 is rotated ninety degrees in a counter-
clockwise direction, as viewed from above as in Figure 3, to
position the transfer head 38 in register with the printer
31 and at an elevated position.
Transfer head 38 is then moved radially outwardly
to a position as shown in Figure 5 in which a lower edge
portion of the form 45 is against and between out-turned
side edges of an inclined sheet guide 46 of the printer 31.
The guide 46 is positioned to guide the form 45 into a
po~ition for driving engagement by an impression roller 47
of the printer 31. A reverse roll of the impression roller
47 is then effected to accurately align the }eading edge of
the form 45 with respect to the roller 47 prior to rotation
of the roller through a predetermined set angle to position
the form for printing. As a result, data printed on the
form 45 is accurately positioned relative to the form and
pre-printed matter thereon.
A bail 48 of the printer 31, which would normally
be operated manually, is connected to an air cylinder 50 for
operation thereby. When the form 45 is delivered to the
printer 31, rollers of the bail 48 are held away from the
impression roller 47 which is driven until the leading edge
of the ~orm is between the rollers of the bail 48 and the
impression roller 47. Then the bail 48 is operated by the ~-
air cylinder 50 so that the rollers hold the form against
the impression roller 47. The printer is then operated to
print personalized data on the form 45. ~ `
After delivery of the form to the printer 31 and ;~-
~ 30 while the printer 31 is being operated, transfer head 38 is
`~ operated to effect an envelope transfer operation in which
an envelope is picked up from the storage rack 32 and
transferred to the elevator 34. To do so, the transfer head
38 is first movsd radially inwardly toward the vertical axis
~ ~`
``' 212~2~8
- 14 -
of rotation of the turret head 36; then the turret head 36
is rotated ninety degrees in a counter-clockwise direction
as viewed from above; then trans~er head 38 is moved
downwardly to a position opposite the upper end portion of
an envelope to be picked up and then radially outwardly to
engage the envelope with suction being then applied to the
suction cups 43 and 44; then the transfer head 38 is moved
directly upwardly to a position such that the lower end of
the envelope clears the bin structure; then the transfer
head 38 is moved radially inwardly; then the turret head 36
is rotated one-hundred and thirty five degrees in a
clockwise direction as viewed from above; then the transfer
head 38 is moved radially outwardly to position the envelope
above the elevator 34 and the transfer head 38 is moved ;;
downwardly to insert the envelope into the elevator 34 after
which suction is released to alIow the envelope to move
downwardly into the elevator 34.
. .
The elevator 34 includes an inclined back wall 54, ~ :
a pair of side guide walls 55 and 56, a lower retaining wall
portion 57 extending between the gui~e walls 55 and 56 in .
spaced parallel relation to a lower portion of the back wall - :~
54 and an upper retaining wall portion 58 extending between
the guide wall~ 55 and 56 and extending upwardly and ..
outwardly from the upper end of the lower wall portion 57.
A pair o~ retaining elements 59 and 60 extend upwardly from
the lower edge of the back wall 54 to be engaged by the
: lower edge of and~to limit downward movement of a form or
envelope dropped into the device 46. An actuator 62 is
provided for the retaining elements 59 and 60 which may be 30 operated by compressed air and which is arranged to rotatP
the elements 59 and 60 between retaining position as shown
in Figures 5 and 6 and a release position as shown in Figure
7, in which the e~levator 34 is in an elevated position above
the delivery receptacle 18 and in which the elevator 34 i~
in an angular position with the lower edge thereof above and
: just inside the upper end of the receptacle 18.
`` 2~ 22~3
- 15 -
- To move the elevator 34 between the product
receiving position as shown in Figures 2, 3, 5 and 6 and the
delivery position of Figure 7, the elevator 34 is supported
on a vertical rod 63 which is supported by an actuator 64
arranged to both rotate the rod 63, as indicated by arrow
65, and move the rod 63 vertically, as indicated by arrow
66. Actuator 64 may preferably be operated by compressed
air, through electrically controlled valves, to control
rotation and to control vertical movement.
.~ :
To supply compressed air for operation of
components including the bail-operating cylinder 50, the
elevator release actuator 62 and the elevator actuator 64, a
compressor 68 is provided which is physically located on a -
floor portion oP the machine between a support for the
elevator actuator 64 and the front wall 21. -~
A vacuum pump 66 is mounted on a horizontal shelf ~ -
67 which supports a journalling structure 68 for the turret
36 of the robot 28. An upper shelf 69 supports a computer
70 which controls opera~ion of the various components of the
machine. Computer 70 is coupled to the robot 36 through a
robot controller unit 71. It is also coupled to a VCR 72 : :
which supplies c0rtain audio-visual signals and which may be
replaced by a c~pact disc uni~ or any equivalent thereof.
Both the robot controller unit 71 and the VCR 72 are mounted
on th~ shelf 69 and a keyboard 73 for the computer may be ~ `;
~tored above the robot controller unit 71 to be pulled out
and used for initial set-up operations, maintenanae and
reprogramming, when desired. An audio mixer unit 74, line
conditioner 75 and an optical/electronic interface 76 for
the VCR 72, compressor 68, printer bail actuating cylinder ;
50 and other functions is disposed on a shelf 77 below the
shelf 69. An additional shelf 78 supports a series of
manually operable switche~ 81 which are usable for direct
control of the air operated devices for set-up and testing
^` 212~2~8
- 16 -
purposes .
Figure B illustrates the interconnection and
functional relationship of components of the machine. The
computer 70 provides a central processing unit or CPU which
is coupled to the credit card reader 14 to receive an
"accept" signal therefrom and which is also coupled through
the optical/electronic interface 76 to a coin accept unit 82
associated with the coin slot 12 and to the bill receiver
13. Computer 70 i8 also connected to the printer 31, the
robot controller unit 71, the keyboard 73, the audio mixer
74 and to a receipt printer 83. Robot controller unit 71,
in addition to controlling the robot 28, also controls the
valves which control the rotation and vertical movement of ~:
the elevator 34 through the actuator 64. ;- :
Computer 70 is also connected to a voice generator .
84 coupled to the audio mixer 74 which supplies an output ~:-
audio signaI through an amplifier 85 to a speaker 86. In .
addition computer 70 is connected to circuitry and an .: .
associated CRT which provides the display and touch screen
11, such circuitry and CRT providing both a display or
monitor 87 and an input device in the form of a touchscreen
88 as indicated in the functional diagram of Figure 8.
Through the interface 76, the computer 70 also controls the
comprsssor 68 and the printer bail operating cylinder 50.
For use in operation of the computer ~0, a main
program i5 stored in memoy which operates in conjunction
with stored screen picture files, screen voice files,
prodiuct data file, sales report files, documentation files
and robot path ~iles as indicated ln Figure 8.
Whien not operating in response to a customer- ::
generated input, the ~aohine operates in an introductory
presantation mod~ in which the VCR 72 is controlled through ...
the interface 76 to apply audio and video signals to the
2~ 21228
- 17 -
audio mixer 74 and the monitor 87 and to present a sequence -
of identifications of products and attributes and features
thereof to persons in the vicinity of the machine 10. By
way of example, a 2 minute sequence may consist of a 1
minute segment devoted to the "Peanuts" product may by
followed by 30 second segments devoted to ~The Birthday
Times" and "The Anniversary Times" products. Fifteen of
such 2 minute sequences may be recorded on a 30 minute
section of video tape which, when ended, is automatically
rewound and restarted.
While the VCR 72 is so operating in the
introductory presentation mode, the computer continually
checks for any touch of the screen by a customer, in
response to the invitation made in the introductory
presentation. Figures 9A and 9B together form a flow chart
illustrating the operation of the machine in checking for ~
touching of the screen and in response to such touching. ~ I
Initially, a menu of the available options is shown, ~;
inviting the customer to select between "The Birthday
Times", "The Anniversary Times" and "Peanuts", in the
illustrated system.
: ~ .
¦ As shown, if "The Birthday ~imes" is selected, a
check is made as to whether money has been entered, i. e.
whether payment has been effected through deposit of coins
or a bill or through a credit card read and confirmation
thereof. If so, the cassette of the VCR 72 is rewound and
also a command is issued for the robot 28 to get a "BT" form
to the printer 31. Similar}y, in response to selection of
"The Anniversary Times", a command is issued after payment
i3 effected for the robot 28 to get the "The Anniversary
Times" form to the printer 31. The operation i8 also
similar in response to a "Peanuts" selection differing only ~-
in that the customer is asked to make a selection from among
a number of "Peanuts" cards. Once that selection i5 made
1 35 and payment is effected, a command is issued for the robot
2121228
- 18 -
28 to get the corresponding form to the printer 31. In each
I case, a sequence for enkry of data by the customer is
¦ initiated at the same time that the command is issued to the
robot to get the appropriate from to the printer. This
feature is important in that it minimizes the time required
to get a final product to the delivery receptacle 18.
In connection with Figures 8, 9A and 98, the
single computer 70 of the disclosed embodiment operates in a
quasi-multitasking mode such that, in effect, the operation
of the robot 28 is simultaneous with tha handling of
operations which involve a customer, the latter taking
precedence. Movements of the robot such as those required
in transferring a form to the printer are made in response ~;
to a series of instructions which are determined by the
computer 70 and sent to the robot controller 71 with short
time intervals therebetweenO At the end of each such short
time interval and also upon completion of any operation
involving a customer, such as the audible and visual
presentation of options or a request for payment, a check is
first made for any input or other operation which might be
i~voked by tha customer, such as touching of the screen or
payment of money. In tha absence of any required operation
involving the customer, any instruction which may be
required by the robot controller 71 is sent thereto. This
operation inæures that operations involving the customer are
handled pro~ptly, without waiting for completion of an
operation by the robot 2~, but allows the robot to be
operated at near maximum speed since it is not disabled
while the system is waiting for a response from the
custo~er. Operations involving the customer can processed
in comparatively short times. It will be understood that a
separate computer dedicated to control of the robot 28 or
other equivalent arrangements may be used to effect
operation of the robot 28 while simultaneously performing
operations which involve the customer or other operations.
~ .
212~ 228
-- 19 --
After personalized data has been selected and
approved by the customer and after the required form is in
the printer, the data is downloaded to the printer, the VCR
72 is restarted and a command i8 issued for the robot to
deliver the appropriate envelope from the storage rack 32 to
the elevator 34. Thu~ the transfer of the envelope is
effected at the same time that the printer is operating,
thereby further minimizing the time required to deliver the
final product.
' .
Figures lOA and lOB together form a flow chart
which illustrates in more detail the processes for the entry
of data required for the illustrated types of product~. The
customer is given clear instructions as to what he or she
needs to know before making payment and, after making
payment, instructions which facilitate rapid entry of ; ~;
accurate data, with provisions for checking entered data and ;~`
correcting if necessary. The customer may take as much
time as necessary, but since delivery of the required form
to the printer takes place during data entry, any delay
which might otherwise occur is minimized.
As aforementioned in the discussion of Figure 4,
Figures 11-15 illustrate important specific features which
relate ~o the construct$on of storage racks and the
operation of tha suction CUp5 43 and 44 in picking up forms,
enve}opes or other items. AB also aforementioned, the
uppermost bin of the storage rack 30 may contain preprinted
forms for "The Birthday Times", including the aforementioned
form 45 which i~ the front for~ of a stack of forms
indicated by refe~rence numeral 90. The upper part of that
bin is shown in Figures 11-15 and it includes a rear wall
92, a pair of ide walls 93 and 94 and a front wall 96 the
upper edge of which is lower than the upper edges of the
stack of forms 90. The bins of each rack have a stepped
relationship and the front wall of each bin may form the
rear wall of the next lower bin. Although not shown, it
2121228
- 20 -
will be understood that each bin has a lower wall or floor
so positioned in relation to the height of the form as to
expose the upper portion of the form for pick up.
.
The side walls 93 and 94 have in-turned upper edge
portions 97 and 98 which overlie the side edges of each form
of the stack 90 and triangularly shaped tabs 99 and 100 are ~:
provided having edges joined to the forward edges of the in- . :
turned side wall portions 97 and 98 and to the adjacent .~.
upper portions o~ the side walls 93 and 94. A pressure
plate 102 is disposed behind the stack 90 and is urged
forwardly by a sprinq 103 to urge the stack 90 forwardly and `:
to engage the upper forward corners of the front form 45
with the tabs 99 and 100. . ~
Initially, the suction cups 43 and 44 are moved :.
outwardly relative to the vertical axis of the robot turret
36 to bring the upper portions of the form 45 into pressure
engagement as shown in Figure 11. Then the cups 43 and 44
are moved upwardly and, through frictional engagement with
the cups 43 and 44, the form 45 is moved upwardly while the
upper corner portions thereof buckle slightly as shown in
: Figure 12 to move upwardly past the tabs 99 and 100 and ~
: the in-turned edges 97 and 98 of the side walls 93 and 94. ::
During this operation, there is no corresponding frictional ~ :
~; engagement with a~second form which is immediately behind
the front form 45 and which is indicated by reference ~
numeral 104 in Flgure:15. In Figure 15, the thicknesses of ;
the forms are exaggerated to mor~ clearly illustrate the
operation. Suction is applied after such initial upward
movement of the~form 45, when the cups 43 and 44 are about
at a position as shown in Figure 15. Then with additional
: upward movement of the cups 43 and 44, the form 45 is :
completely withdrawn from the bin. ~ ;
This pick-up operation is highly advantageous in
obtaining reliable operation. It insures against pick-up of :
'
-~ 212~228
- 21 -
more than one form as has been found to take place because
of transmis~ion of suction through a porous form to a form
or forms therebehind. It should be understood that o~her
types of relative movements may be used to cause the leading
sheet to bUCklQ or otherwise separate from the next sheet
therebehind.
In the machine as illustrated, the bas~ products
in the storage bin 30 are pre-printed form~ but it will be
understood that the baso products may be of unprinted stock ~ -
and /or rolls of paper stock that are cut to size within the
operation and that one or more printing operation~ may be
effected in response to input data from a customer to
produce the desired final product. ~he machine of the
invention is particularly advantageous when used in
con~unction with products of sheet material as illustrated
but it will b~ understood that various features of the
invention may be used in con~unction with other products and
particularly products which are produced on order on a
custom basis through making of selected modifications of a
plurality o~ base product forms. }t will also be understood
that other modifications and variations may be effected
without departing fro~ the spirit and SCOpQ of the novel
concepts of the invention.
~ '
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