Note: Descriptions are shown in the official language in which they were submitted.
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
METHOD AND APPARATUS FOR STORING ARTICLES FOR USE WITH AN ARTICLE
HANDLING DEVICE
S BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates generally to improvements in the design and
operation of an
article containment area, storage area and system therefore, for use with an
article handling
apparatus, and is particularly useful for storing, containing and/or handling
fragile articles, such
as bags of potato chips, in a columnarlstacked manner.
2. Description of the Prior Art
Most prior art article handling mechanisms, more specifically referred to in
the
description of the present invention as being in the environment of a point-of
sale (POS) article
dispenser, rely on a multitude of motors, switches and solenoids for moving
various portions of
the handling mechanism, and handling of the articles themselves, such as
packaged products.
Most such machines require one motor, switch andlor solenoid dedicated for
each row, column
or type of article or package to be handled or dispensed therefrom. Such
machines generally
suffer from numerous disadvantages, such as poor reliability due to mechanical
failures, as well
known by those skilled in this art.
US Patent 5,240,139 represents a significant improvement in article handling
devices. It
describes the use of a negative air pressure lifter (i.e., article pickup or
handling mechanism),
which uses suction, i.e., a reduced or so-called "negative" air pressure
created by a partial
vacuum, for making a secure contact to an article to be retrieved by entering
the open top of an
article storage bin located in a refrigerated storage area of a vending
machine. Although robotic,
and specifically suction-type lifting mechanisms are in common use in factory
settings, where
space limitations are generally relaxed, their use in tight confines, such as
an article vending
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
machine, has not gained wide acceptance. Due to the greater reliability and
versatility of
vending machines of the type which utilizes suction technology for grasping
and moving
selected articles, it would be desirable to develop new techniques and methods
for the operation
and control of such machines, as well as for other more generalized article
handling mechanisms.
Article storage is provided in the forenoted US Patent 5,240,139 by arranging
a plurality
of vertically aligned storage compartments or bins within the freezer. Since
the articles to be
dispensed were frozen, the weight presented on the articles stored in a lower
portion of the bin,
by the stack of articles stored above, did not present the problem of product
crushing. In some
applications, however, the articles stored in the bins may be fragile (such as
potato chips which
are packaged in flexible bags), and means would then be necessary to prevent
crushing of the
articles stored near the bottom of the bin. Even if article storage in the
dispenser used horizontal
placement of the article storage bins, fragile articles could still be damaged
during transportation
of the storage bins from the warehouse or article manufacturer to the actual
dispenser
mechanism. It is desirable to make the article storage bins so that they have
the most capacity
possible, for example, by making the bins taller. However, the taller the
storage bins, the more
the above noted crushing problem is exacerbated.
Furthermore, when the article storage bins store product which is date
sensitive, i.e. may
get stale overtime, means must also be provided to ensure that
refilling/filling of partially empty
bins are not only accomplished in a simple and reliable manner, but in a
manner which preserves
a proper ordering of the product in the bins, i.e. in a manner which maintains
FIFO (first in, first
out). FIFO dispensing of the product from the article storage bins, helps
maintain the quality of
the product at the time it is delivered to the consumer. When taller, higher
capacity, bins are
used, the FIFO problem is also exacerbated if access to the interior of the
bins for refilling/filling
is only provided at an end of the bin which is opposite from the dispensing
end.
U.S. patent 6,082,578 entitled VENDING MACHINE FOR PACKAGED
COMMODITIES discloses a vending machine wherein the articles to be dispensed
are stored in
vertical columns. In order to prevent the weight of the articles in the
columns from crushing
those articles near the bottom of the column, the vertical stack of products
is divided into
2
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
sections, with each section having its own article dispenser at the bottom
thereof. Providing
.multiple dispenses to solve this "crush" problem is wasteful of the article
storage volume, as well
as requiring the use of many additional electromechanical components.
U.S. patent 5,772,072 entitled VENDING MACHINE INCLUDING REFRIGERATION
AND OVEN COMPARTMENTS subdivides a vertically oriented article storage
magazine into
multiple vertically oriented sections. Each section includes a pair of opposed
"retention levers"
for engaging the bottom product in its section of the magazine. The "retention
levers" are
operated in a sequential manner in order to shift the stored products, one at
the time of each
vend, from a higher section to a lower section, until all of the products have
been dispensed from
the magazine. This technique would be somewhat undesirable for supporting
articles comprising
flexible bags, since the retention levers would have to extend quite far into
the interior of the
magazine in order to engage the bags in a supporting manner, and could
therefore damage fragile
products. Additionally, including a technique such as this in a system of the
type described in
the forenoted U.S. patent 5,240,139, it is likely that the retention levers
would interfere with
movement of the article retrieving mechanism into and out of the storage bins.
Even
furthermore, the retention levers add significant mechanical complexity to the
storage bins.
U.S. patent 5,651,476 entitled MODULAR VENDING MACHINE and U.S. patent
3,175,669 entitled DEVICE FOR VENDING CYLINDRICAL OBJECTS are illustrative of
the
use of baffles along the .inside portion of a vertical column of products, for
staggering the
distribution of the products in the vertical column, thereby preventing the
weight of the products
above from "bunching" or "jamming" a product feed mechanism located at the
bottom of the
column. The use of fixed position baffle elements are not sufficient to
prevent damage to a
column of fragile articles, such as a stack for bags of potato chips, and in
fact the fixed position
baffle elements themselves are likely to cause damage to the products.
It would be desirable to provide a relatively low cost and reliable method and
apparatus
to increase the article holding capacity of the storage bins without adversely
affecting the overall
quality (freshness and structural integrity) of the articles stored therein,
as well as techniques
which reduce the effect of external forces on the articles stored therein,
such forces being
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
presented to the articles during, for example, transportation from the
manufacturer or a
warehouse, to the storage area in the article dispenser.
Furthermore, it would be desirable to provide such an apparatus which not only
prevents
the crushing of fragile products, but also uses a method and apparatus which
reduces the
handling of the individual products during their transportation from the
product manufacture to
the article storage area of the article dispenser.
OBJECTS OF THE INVENTION
Accordingly, one of the general objects of the present invention is to provide
new
techniques and methods for the design, operation and control of article
handling mechanisms.
It is a further general object of the present invention to provide new
techniques and
methods for the design, operation and control of article handling mechanisms
used in association
with computer-controlled electromechanical technology, and in the illustrated
embodiment a
robotically positioned suction-type gripper, for grasping and moving a
selected article from a
storage area to a dispensing area.
It is also an object of the present invention to provide new techniques and
methods for
such mechanisms which improve the speed and accuracy of the article handling
operation while
still handling the articles to be dispensed in a careful manner so as to
prevent any damage
thereto.
More specific objects of the present invention are to:
1 ) increase article storage capacity by increasing the height/length of a
stack of articles, and
manner so that forces which act upon the articles are prevented from causing
damage, such
forces comprising, for example the weight of the articles stored above or
impact forces which
result from shippingltransportation of the articles in a columnar form;
4
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
2) provide article storage bins which are designed so as to facilitate
enforcement of the
loading of articles in a FIFO manner;
3) provided a technique for prepackaging of the articles at a manufacturer's
facility in a
manner which reduces the labor and time it takes for restocking an article
dispenser;
4) provide a support shelf or table in association with the dispensing
apparatus which
facilitates FIFO refillinglfilling of the storage bins.
SUMMARY OF THE INVENTION
The above objects are achieved in the illustrative embodiment of an article
handling
apparatus embodied, for example, as a vending machine, including a
controllably positioned
hose gripper for retrieving articles from a storage area.
In one embodiment, the storage area includes a plurality of axially aligned
storage bins
having an opening at a dispensing end thereof, wherein each storage bin
includes at spaced
positions along its length, opposed intrusions adapted to support at least the
edges of articles
stacked in the bin. In one preferred embodiment of the invention, the
intrusions comprise
opposed pairs of tabs which extend from the inside wall of the bin into its
article storage interior.
The tabs are flexibly biased within the bin so as to facilitate movement of
the articles in a
direction towards its dispensing end, and which at the same time hinder
movement of the articles
in a direction which is opposite to the dispensing direction. In a specific
embodiment of the
invention, flexible biasing of the tabs is accomplished by attaching the tabs
to the exterior the bin
and having them extend into the interior of the bin via a hold in the bin
wall. The thickness of
the hole in the wall acts to create a support for the tabs which hinders
movement of the tabs in a
direction below the hole, while the whole as a height which is sufficient so
as to allow the tabs to
easily flex in a direction above the hole. The length of the tabs are
predetermined so that the
space between their opposed free ends is sufficient to allow the article
gripping mechanism to
freely pass therethrough, and the flexible biasing of the tabs is not strong
enough to dislodge an
article from the article gripping mechanism as a result of contact between the
tabs and the article
during removal of the article from the storage bin.
5
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
In accordance with a further embodiment of the invention, in order to
facilitate an
efficient refilling/filling of the storage bins with articles, and at the same
time preserve a "first
inlfirst out" (FIFO) refillinglfilling scheme, the article storage bins may be
segmented and pre-
filled with articles at a warehouse, or even at the facility of the article
manufacturer, The
segments may comprise at least a portion of a shipping container from the
manufacturer or
warehouse for use in refillinglfilling the article dispenser. Among other
benefits, the use of bin
segments preloaded with articles enable the operator of the dispensing
apparatus to realize
significant savings in time and labor during the restocking process, due to
not having to take the
previously un-sold articles from the storage bins back to the warehouse.
In an even further embodiment of the invention, the storage bins themselves
may have a
full height which is appropriate for the storage area, and sleeves comprising
prepackaged groups
of articles can be inserted into the storage bins for refillinglfilling
through an opening at or near a
bottom portion thereof. The,inserted sleeve of article's is then pushed upward
in the bin, using a
slot opening formed along one side of the bin, or the pressure from a "next to
be inserted sleeve"
thereby allowing insertion of additional sleeves of articles, as appropriate,
for completely
refilling/filling the bin. In one embodiment the sleeves may include flexible
article supports,
such as the above noted flexible support tabs, or in a further embodiment the
sleeves may have
appropriate openings on opposite sides or corners thereof, dimension to
facilitate engagement
between the edges of the articles within the sleeves and the flexible article
supports in the bins.
In an even further embodiment of the invention, the article
intrusions/supports can
comprise a plurality of longitudinally oriented strips having "steps" formed
therein. The strips
can be adhered to the inner walls of the article storage bins and their
"steps" function to at least
partially support the weight of the articles stored therein. Alternatively,
the inside of the bin
could itself have a profile which acts to support the product, such as an
internal spring portion
extruded integrally with the formation of the bin walls.
BRIEF DESCRIPTION OF THE FIGURES
FIG. 1 is a front perspective view of a vending machine constructed and
operating in
accordance with the principles of the invention.
6
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
FIG.'S 2 and 3 are front perspective views of the vending machine of FIG. 1,
with the
front door opened, so as to illustrate the main mechanical and electrical
components therein.
FIG. 4 is a functional block diagram illustrating the cooperation of the main
mechanical
and electrical components in the vending machine of FIG. 1.
FIG.'s 5, 6, 7, 8 and 9 illustrate combinations/orientations of various
article handling
mechanisms and storage areas.
FIG.'S 10a, 10b, 10c, 1 Od and 1 Oe illustrate a perspective view, a side
section view, a
front section view, and a top view, respectively, of an article storage bin,
and article support
therefore, constructed and operating in accordance with the principles of the
present invention.
FIG.'s l la and l 1b illustrate top and side perspective views of an
alternative embodiment
of an article storage bin constructed in accordance with the principles of the
present invention.
FIG. 12 illustrates a further embodiment of an article storage bin constructed
in
accordance with the principles of the present invention, wherein the full
height of the storage bin
is formed by interlocking/stacked sectional bins.
FIG. 13 illustrates an even further embodiment of an article storage bin
constructed in
accordance with the principles of the present invention, wherein a "sleeve" of
pre-packaged
articles is used for loading a bin having a configuration such as shown in
FIG.' S 10 and 11.
FIGURES 14, 16 and 15, 17 illustrate longitudinal cross section and top views
of two
further embodiments of article storage bins constructed in accordance with the
principles of the
present invention.
FIGURES 18-27 illustrate further useful embodiments in accordance with the
invention.
7
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS OF THE INVENTION
FIG. 1 illustrates an environment for the inventions described herein, in the
form of an
article dispenser, such as a point-of sale (POS) dispenser. Although
throughout the following
description, reference is made to implementation of the invention in a vending
machine
environment, it is intended that the environment for the present inventions,
and the term
"vending machine", include more generalized article handling, retrieval andlor
dispensing
apparatus. Such apparatus, if embodied as a portable device may comprise and
be about the size
of a traditional vending machine or as large as a tractor-pulled trailer, and
if embodied as a non-
portable device may comprise and be embodied as an automated dispensing room
or an area
located in a permanent structure, such as in a building (aboveground or
underground, and with or
without interior walls or an enclosing cabinet). In this regard, the apparatus
may comprise a
small store, such as a convenience store. Furthermore, it is intended that the
term "articles" or
"products" include in at least some of the embodiments of the invention
described herein, not
only goods, but also services and/or information, in either a permanent or
temporal form.
Accordingly, FIG. 1 illustrates a perspective view of a vending machine 10,
comprising
one embodiment for an apparatus which is constructed and operates according to
the present
inventions. Vending machine 10 includes a main cabinet 12 and a front door 14
mounted on a
hinge 16 for providing access to the interior of the vending machine for
servicing
(refilling/filling it with articles, maintenance, etc.). Note, in a further
vending machine
embodiment, a service door or port could be positioned anywhere on or as a
part of cabinet 12.
In FIG. l, front door 14 is shown in a closed position, forming an enclosure
with main cabinet
12, within which various components of vending machine 10 are housed, as
explained in more
detail below.
Front door 14 includes a convex-shaped section 18 adjacent a flat section 20;
however,
these particular shapes are not necessary to the invention. The convex-shaped
section 18
comprises a translucent plastic display panel 18, which typically has brand
name and/or logo
graphics displayed thereon, and may even include graphics which illustrate the
individual articles
8
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
that are vendible by vending machine 10, as well as the price andlor selection
information for the
articles. Panel 18 is typically back-lit using fluorescent bulbs, not shown.
A customer retrieval area 22 is formed in the panel 18 on door 14 so that
articles stored
S therein can be discharged to a user of vending machine 10.
Various user interface features are mounted on flat section 20 of door 14. A
customer
display 24 may be a conventional fluorescent or LED display panel for
displaying various items
of information to a user of machine 10, such as feedback to the user of the
selection made, the
amount tended, and if the product is sold out or being vended. For accepting
payments, a bill
acceptor slot 26 accepts paper money into a conventional bill acceptor
mechanism (mounted
inside machine 10 so as to have its user interface portion extend through an
aligned opening in
flat section 20) for purchasing articles or for making change. A coin
insertion slot 28 accepts
coins into a conventional coin changer (also mounted inside machine 10 so as
to have its user
interface portion extend through an aligned opening in flat section 20) for
purchasing articles or
fox making change. A coin return actuator 30 comprises a conventional push-
button mechanism
for activating a coin return portion of the coin changer mechanism which, upon
actuation returns
coins inserted by the current user, to a coin return well 32. The coin return
portion of the coin
changer mechanism also provides change to the coin return well 32 either in
response to the
purchasing of articles or for making change for paper money or larger coins. A
credit/debit card
slot 34 accepts a plastic credit/debit caxd inserted into a conventional card
reader mechanism
(also mounted inside machine 10 so as to have its user interface portion
extend through an
aligned opening in flat section 20) for allowing a user to pay for purchases
via credit/debit caxds.
A door lock mechanism 36 enables front door 14 to be secured so that it cannot
be opened
without a key. For allowing user selections, display panel 18 may include
graphics, as noted
above, which indicates the various articles vendible by the machine, as well
as their associated'
price and unique selection number. Alternatively, flat section 20 could
include a group of
graphic article displays and their associated price. A conventional keypad
push-button
mechanism 38 is provided for enabling a user to select a desired article from
vending machine
10. Alternatively, push-button mechanism 40 could include individual push
buttons for each
article selection, as well as an associated price display; and even
flu~thermore, a user operated
9
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
touch screen could replace pushbutton mechanism 40 and display 24. Although
not shown in
Figure 1, machine 10 also includes a conventional telecommunications component
that can be
used for authenticating credit card purchases, as well as other uses relating
to machine control
. and reporting the inventory and operational status of machine 10 to a remote
location, as more
fully described later on. Although vending machine 10 is illustrated to
include the above
described user interface components, in a more minimal embodiment of the
invention, most, if
not all, of these user interface components could be omitted, and the
dispenser could in fact be
controlled from a remote location, with or without a local payment system.
FIG. 2 is front perspective view of the vending machine of FIG. l, with the
front door
open, so as to illustrate the main mechanical and electrical components
therein. FIG. 3 is a
somewhat idealized version of the main components of the article handling
mechanism portion
of vending machine 10, and is useful for understanding its general operation.
Note, some
portions of vending machine 10 are shown in these FIGURES cut away in order to
better
illustrate the interior components.
Referring first to FIG 2, it is noted that the right portion of the front of
cabinet 12
includes a vertically mounted support panel 202 which is used for mounting
most of the user
interface components. More specifically, a hinged mounting bracket 204 is
mounted on panel
202 and aligned with an opening in door 14 so that the user interface
components, such as the
selection button keypad 40, coin insertion slot 30, bill acceptor slot 28,
coin return 32, and
customer display 24, are all accessible to the user from the front side of
door 14. Mounted on the
interior of front door 14 are two fluorescent bulb light sources which emit
light for backlighting
panel 18. The fluorescent bulb light sources are behind protective covers 206
so as to provide
security (vandal protection), which is desirable as a result of the openings
in the structure of door
14 which allow for insertion of the fluorescent bulbs. Also mounted' on the
interior of front door
14 is a ballast 208 for the fluorescent bulbs, and a product delivery chute
210...Note, the product
delivery chute 210 is unconventional in that it is extremely tall, and
therefore serves as a security
measure to prevent unauthorized access into the machine by insertion of an arm
or other grasping
mechanism into the customer retrieval area 22 from outside the machine. In
typical prior art
vending machines, a swinging security door is usually found at the top of
chute 210, which
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
swings into in a vandal blocking position when the customer pushes in the
swinging door at the
entrance to the product retrieval area 8. In a further embodiment of vending
machine 10, such a
swinging security door could be used in conjunction with product delivery
chute 210, especially
if chute 210 is not as tall as the one illustrated in Figure 2 and also if the
product retrieval area 22
is located higher up on machine 10. Mounted behind hinged mounting bracket 204
is a
conventional bill acceptor mechanism for causing paper money inserted into
bill acceptor slot 28
to be drawn into vending machine 10, a conventional coin changer supplies
coins to coin return
slot 34 and is located behind panel, a coin guide guides inserted coins into
the coin changer, and
a conventional bill validator ascertains proper insertion of paper money into
bill acceptor slot 28
A control board 212 comprises a printed circuit board on which circuitry is
formed and to
which integrated circuit chips are attached. Control board 212 includes a
microprocessor that is
electrically connected to various sensors, motors, the above described user
interface elements, as
well as other devices within vending machine 10, to control the operation of
vending machine 10
as described herein. When reference is made in this description to performance
of specified
functions by control board 212, it is to be understood that these functions
are controlled by the
microprocessor and the associated circuitry formed on control board 212. A
power supply 214 is
mounted on panel 202 and supplies power for the electrical components of
vending machine 10.
Referring now also to FIG 3, it is apparent that the bulk of the interior of
cabinet 12 is
available as an article storage area 215. In accordance with the principals of
the present
invention, storage area 215 includes a plurality of vertically aligned article
storage bins 216
arranged on the interior floor 217 of cabinet 12. In a refrigerated
environment for the present
invention the bins could be arranged to sit on a shelf positioned above the
refrigeration system.
Bins 216 are specifically designed for supporting and stoiing fragile articles
223 to be vended by
machine 10. Further details relating to bins 216 are provided later in
conjunction with the
description for Figures 5-10.
An open-top container 219 is dimensioned to hold a plurality of article
storage bins 216
therein, and used, for example to facilitate the simultaneous handling (i.e.,
removal ,installation
11
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
and transportation) of the plurality of bins 216 into/out of the article
storage area 215. Container
219 also facilitates rapid and accurate positioning of a plurality of the
article storage bins into the
storage area of the article handling apparatus. More specifically, the
individual article storage
bins can be pre-filled with fresh product and prearranged within the container
219 at a
warehouse, and transported by the operator to the vending machine in order to
rapidly,
efficiently, and without error replace all or substantial all of the inventory
of the vending
machine by merely exchange a new container 219 with the old container 219
presently in the
machine. The removed container 219 can then be replenish with fresh product by
the operator
back at his truck or at a warehouse, and then used for swapping in a
subsequent vending
machine. This "swapping" technique facilitates rapidly, efficiently, and
without error changing
all or part of the layout of the article selections, i.e., commonly called the
"plan-o-gram", of the
vending machine.
FIGURE ? illustrates a top view of 4 sample layouts for container 219, so as
to hold
article storage bins of varying sizes therein, as demanded by the shape of the
articles to be stored
therein. Note that
A carriage 218 (which may be more generally referred to as an X-Y or planar
positioning
mechanism) is coupled to the interior topside of cabinet 12 and adapted for
being controllably
positioned by the control board portion 212 of machine 10, to a location
centered over (so as to
be aligned with) the open top-end of a selected one of article storage bins
216.
Although vertical (Z-axis) alignment of the article storage bins 216 is shown,
non-
vertical, i.e., slanted or even horizontal (X or Y axis) alignment may also be
possible (such as
found in the well know glass front vending machines of the type using a
"spiral wire" type of '
dispensing apparatus). In the event of substantially horizontal alignment of
the storage bins; the
planar positioning mechanism will be appropriate changed so as to position
carriage 218 for
movement in the X/Z or Y/Z plane. In fact, a curvilinear plane, such as a
cylinder, is also
considered to be within the scope of the present invention. The combination of
substantially
horizontally aligned stacks of products with a robotically controlled article
transport mechanism
which moves in a vertical plane adjacent to dispensing ends of the stacks of
products, is known,
for example in US patent 6,230,930 issued May 15, 2001 and entitled METHOD AND
12
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
APPARATUS FOR VENDING PRODUCTS, and in US patent publication US 200110000609
published May 3, 2001. The article storage bins of the present invention could
fmd use in an
article dispenser of the type noted above, which has bins positioned so as to
have a downward
slope toward their dispensing ends, since the article supports/intrusions in
the bins will function,
during transportation of the bins from the warehouse or article manufacturer
to the article
dispensing apparatus, to prevent damage of the products due to the weight of
the products stored
above, and in the dispenser apparatus these same article supports/intrusions
can function to: 1 )
maintain an orderly position for the products throughout the length of the bin
, such as provided
by the spirals of a prior art vending machine (which is particularly important
in the event that the
packages are flexible, such as bags the potato chips), and 2) prevent the
articles from sliding out
of the dispensing end of the downwardly sloped bins.
Use of a curvilinear plane for article transport is also known, for example in
the
videocassette vending art, wherein the videocassette's are stacked in an
outwardly facing manner
in a central storage carousel, and a robotic gripper encircles the carousel.
Furthermore, although
article storage bins 216 are shown to be an ambient environment, bins 216
could in fact the
positioned in a refrigerated environment, such as a freezer located in the
bottom of storage area
217, and the article transport mechanism enter the bins from a top opening the
freezer, such as
shown and described in the forenoted U.S. patent 5,240,139. Alternatively, in
the event the
refrigerated environment is of the type including a substantially horizontal
alignment of the
storage bins, a vertically oriented opening could be used to provide access to
the dispensing end
of the article storage bins.
In the environment of the present invention, an air hose 220 is continuous
from a point
before it's exit from a hose storage area 222 over orthogonally positioned
rollers 213 (or other
low-friction arrangement); to its free end 221. Free end 221 includes a
weighted portion 225 in
combination with a bellows extension tip portion 227. Depending upon the
physical
characteristics of the articles to be dispensed, article pickup head 224 may
comprise only the
weighted portion 225, or this portion in combination with a fitting
specifically adapted to the
type of packages to be dispensed, such as the bellows tip 227 (serving as an
active suction cup)
or a compliant tip without a weight. Hose 220 has one end coupled to a source
of negative air
13
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
pressure, i.e., suction, which source of suction comprises in the preferred
embodiment a blower
motor 226, and a free end coupled to the article pickup head 224. In the
present invention, the
word continuous is intended to mean a hose which is connected and acts between
it's end points,
in order to accomplish the functions required by it, as a unitary/single hose,
i.e., one than one
hose can be coupled together to act as a single hose. An air hose portion 235
provides suction
from blower motor 226 to one port of an air junction box 229, while continuous
hose 220 is
connected to a second port of air junction box 229. Air junction box 229,
included at a top
portion of hose storage area 222, includes an airflow sensor and vacuum
breaker assembly. The
airflow sensor is used to develop a signal which is applied to the controller
of the vending
machine and is representative of the airflow through air hose 220. The vacuum
breaker assembly
is used to quickly bring the air pressure in hose 220 to the ambient pressure,
thereby facilitating a
"quick-release" of an article transported by the article pickup head, into the
dispensing chute
210. It is noted that a quick release of the products does not have to occur
at the top of
dispensing chute 210, and in the event that it is desirable to avoid
subjecting the article to forces ,
which result from jarring or dropping, the article pickup head could proceed
to the bottom of the
dispensing chute 210 before providing release of the article, with or without
the use of the quick
release valve. In one embodiment, the airflow sensor arrangement may comprises
a two-part
switch, a first part includes a reed switch mounted on a top portion of box
229, and a second part
includes a magnet mounted at the free end of a swinging arm mounted inside box
229. As the
arm swings inside box 229 due to changes in airflow, the switch is "toggled",
thereby indicating
changes in airflow. The use of this airflow signal will be described in
greater detail later. In an
alternative embodiment, the functions of the airflow valve and quick release
could be built into
the blower motor enclosure. With this arrangement, hose 220 would be
continuous from the
picker head all of the way to the blower motor.
In the environment of the present invention, as shown generally in FIG 3, , a
novel hose
positioning arrangement is provided for aligning carriage 218 with a selected
one of bins 216.
This alignment is accomplished in the front/back (Y) direction using a
frontlback linear slide 228
(shown in a cut away view) mounted to an "L" shaped front/back beam 230 so
that carriage 218
can be controllably positioned therealong using slide 228. A bottom edge
portion of beam 230
includes a rack portion 232 and carriage 218 includes an electric motor 233
that drives a gear
14
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
(not shown) which engages rack portion 232. Application of forward and reverse
motor control
signals from control board 212 to motor 233 causes carriage 218 to be driven
in the front/back
directions. Alignment of carriage 218 in the left/right (X) direction is
accomplished in a similar
manner, using a left/right linear slide 234 which slidably couples the top
side of front/back beam
230 to the underside of each of spaced apart left/right beams 236a and 236b.
Beams 236a and
236b are rigidly attached to the inside top portion of cabinet 12. A rack 238,
also rigidly
attached to the top inside portion of cabinet 12 and in parallel with beams
236, is engaged by a
gear 240 driven by a reversible motor 243 mounted near the inside corner of
beam 230.
Application of forward and reverse motor control signals from control board
212 to motor 243
causes a rotation of gear 240 and a corresponding movement of beam 230, and
hence carnage
218, in the left/right (X) directions.
Note that although carriage assembly 218 only moves in a single plane, it is
responsible
for precisely positioning pickup head 224 in each of the X, Y and Z
directions. More
specifically, carriage 218 includes a roller arrangement (not specifically
shown, but which may
comprise three orthogonally positioned rollers at the point where hose 220
enters carriage 218)
for redirecting the movement of hose 220 from a substantially horizontal
direction along the top
interior portion of machine 10 (i.e., in the X,Y direction), to a direction
perpendicular thereto
(i.e., in the Z direction). Thus, movement of carriage 218 will move the free
end 221 of hose 220
so that it can be axially aligned with a selected one of bins 216. Thereafter,
a hose drive
mechanism (not specifically shown, but which may comprise a set of
conventionally operated
"pinch rollers"), is driven by a reversible motor 508 for driving pickup head
224 into/out of the
selected bin 216 in order to retrieve articles stored therein.. In the
illustrated embodiment the
hose drive mechanism is mounted in carriage 218, but in a further embodiment
motor 241 and
the pinch rollers, or some other drive mechanism, such as an articulated arm,
could be mounted
so as to act somewhere else along the length of hose 220.
This arrangement, where hose 220 travels in the same X,Y plane that carriage
218
travels, facilitates a compact hose positioning and drive mechanism embodiment
for the present
invention.
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
Additionally, since hose 220 is formed of a continuous material from its
connection to the
source of suction at one end (which connection is described later in this
description to be at a
vacuum junction box 229) to the pickup head 224 at its other end, means are
necessary for
providing hose storage and/or retraction during travel of the pickup head 224
in the X, Y and Z
directions during the article dispensing operations.
A hose storage area 222 is formed by placing an interior wall 246 parallel and
adjacent to
an exterior wall 248 of cabinet 12. Walls 246 and 248 are shown partially cut-
away so as to
illustrate a gravity feed self retracting loop 250 in hose 220. Loop 220 is
constrained for
movement within hose storage area 222, and made self retracting by providing a
rolling weight
252 having a groove 253 along its periphery in order to provide constant
centering of the weight
within hose storage area 222 and providing a constant "loop forming" tension
on hose 220.
Furthermore, centering of the grooved rolling weight 252 within hose storage
area 222 results in
centering of hose 220, thereby preventing hose 220 from rubbing with the walls
of hose storage
area 222 during X,Y and Z repositioning of pickup head 224. In order to
prevent binding of hose
220, rolling weight 252 is dimensioned so as to be slightly larger than the
diameter of hose 220
and the width dimension of hose storage area 222 is dimensioned to be only
slightly larger than
the width dimension of rolling weight 252.
It is also noted that this gravity-based retraction/ hose storage technique
meets the storage
requirements needed for both the X and Y movements of carriage 218 (left/right
and front/back),
as well as for the Z movement of pickup head 224. Of course this gravity-based
retraction/ hose
storage technique would work equivalently well in an embodiment wherein the
robotic hose
positioning mechanism used a rotary type device (R, 0), an articulated arm,
telescoping or scissor
system, or other technique. Furthermore, the illustrated gravity-based
retraction/ hose storage
technique is not necessary for the present invention, and in fact a fully or
partially motorized
retraction technique could also be used. Furthermore, in other embodiments, it
may be desirable
to place hose storage area at another location, such as parallel to the top or
rear portion of cabinet
12.
16
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
In the environment of the present invention, it is noted that FIG.'s 2 and 3
also illustrate that as
the hose positioning arrangement causes an article 223 to be moved by pickup
head 224 from a
storage bin 216 to chute 210, it is positioned past an article identification
(ID) device 254
mounted within cabinet 12. A specific type of article ID device is not
required for the present
invention, and depending upon system constraints, such a device may comprise,
for example, a
bar code scanner or other optical image/pattern recognition system, or even a
non-optical system,
such as a radio frequency identification (RFID), or magnetic-based system
mounted within
cabinet 12. for uniquely identifying and confirming that the article being
dispensed is in fact the
article that was selected. The construction operation of such article
identification devices are
well known to those of ordinary skill in this technology, and therefore
further description in this
regard is not necessary. Such article or bar code recognition uniquely
identifies the transported
article to control board 212, and can be used for inventory management, as
well as operational
control of vending machine 10. Article ID device 254 is mounted within cabinet
12 at a
relatively fixed location, the mounting being such that some controlled
movement in the
orientation of article ID device 254 may be facilitated, in order to help
ensure a good "view" of
the article being transported, and a high confidence of the transported
articles being identified.
One way to provide such controlled movement for ID device 254 would be to
mount it on a
piezoelectric substrate, and control system 400 could provide a voltage to the
substrate so as to
shift the "view" of ID device 254. It is noted that by using an appropriately
positioned article ID
device 254, only a single article ID device 254 is needed. This is
particularly useful for a robotic
type dispenser, since the robotic apparatus can controllably position, and re-
position if necessary,
the article in the vicinity of the article ID device 254, thereby helping
ensure a reliable ID of the
article.
It is noted that by using a centrally positioned article ID device 254, only a
single article
ID device 254 is needed. This is particularly appropriate for a robotic type
dispenser, since the
robotic apparatus can controllably position, and re-position if necessary, the
article in the vicinity
of the article ID device 254, thereby helping ensure a reliable ID of the
article. It is noted that a
specific type of article ID device is not required, and depending upon system
constraints, such a
device may comprise, for example, a bar code scanner, an optical imaging
system which
identifies the article being dispensed using image and/or pattern recognition
techniques, or even
17
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
an RF identification tag system. Such article ID devices are well known to
those of ordinary
skill in this technology, and therefore further description of them is
unnecessary.
A bin holder 260, shown in FIG. 2, comprising a pair of rectangular brackets
secured in a
spaced manner to opposed interior side walls of cabinet 12, is used to
maintain the bins situated
therebetween in a predetermined position relative to the interior of the
vending machine cabinet.
This is required in view of the pre-programming of control board 212 which
controls the robotic
structure for retrieving a selected article from one a selected one of bins
216.
FIG. 4 illustrates a functional block diagram of the general operation of a
dispenser
(vending machine 10)~ incorporating the various aspects of the inventions
described herein. A
control system 400 including a microprocessor 402 and associated memory
circuits 404, is
constructed on control board 212. Control system 400 may also include the
electronic parts of
other portions of vending machine 10, as appropriate. Memory circuits 404
include ROM for
storage of operating programs (embedded software, as well known, for
accomplishing the
described herein control of vending machine 10), as well as RAM cache for
temporary storage of
operational data during system operation as well as other data as may be
needed. Control system
400 is responsive to user operation of the user payment and selection system
406 (including the
coin and bill mechanism 28 and 30 and the selection buttons 40 of FIG. 1) for
operating the user
interface and article handling apparatus of vending machine 10 so as to
dispense the article
desired by a user. More specifically, upon proper payment for a selection made
by the user using
payment and selection system 406, control system 400 operates the X/Y
(left/right and
front/back) drive motors 408 so as to position pickup head 224 to be in
alignment with a bin 216
which holds the article selected by the user. Control system 400 then engages
a hose drive motor
410 (Z-motor) mounted' within and carried by carriage 218, so that hose 220 is
driven in a
direction towards the top article in the aligned bin. At an appropriate time
before head 224
contacts the article to be removed (and in an embodiment of the invention
where cabinet 12 does
not include refrigerated air, an appropriate time may be just before head 224
enters bin 216, but
if the air is refrigerated, just before contact with the desired article is
expected, in order to
minimize removal of refrigerated air), control system 400 activates blower
motor 226 so as to
provide lifting suction at pickup head 224. Upon position sensors 412
determining that pickup
18
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
head 224 has contacted and become secured to the desired article, control
system 400 causes
hose drive motor 410 to reverse its direction so as to retract hose 220 from
the. aligned bin 216
and thereby lift out from the bin 216 the selected article. Carriage 218 is
then driven to a
position in alignment with the article delivery chute 210. As the desired
article 223 is moved
along its way from a storage bin 216 to chute 210, it is positioned past the
article ID device 254
for uniquely identifying and confirming that the article being dispensed is in
fact the article that
was selected. Upon sensors 412 sensing alignment of carriage 218 with chute
210 (in this case
sensor 202 may comprise a reed switch mounted on a front wall of the cabinet,
and a magnet
mounted at a leading edge of carriage 218), control system 400 turns off
vacuum blower 226 and
the resulting loss of vacuum causes the selected article to drop into the
customer retrieval area
22. As previously noted, in the event that the articles are so fragile that
they should not be
dropped or subjected to such impact forces, hose 220 can be driven to the
bottom of chute 210
before the article is released.
It is noted that position sensor 412 may include the airflow sensor of
junction box 229, or
in a further embodiment, comprise a mechanically operated plunger-type
position sensor
associated with pickup head 224. Even furthermore, position sensors 412 may
also include a
reed switch mounted on a front wall of the cabinet, and a magnet mounted at a
leading edge of
carriage 218.
Accurate control of energization of blower motor 226 is particularly
advantageous in the
event that the inside of the cabinet, or a portion thereof, is refrigerated,
since accurate control
would decrease the amount of refrigerated air being displaced by blower motor
226. In the
preferred embodiment, the microprocessor 402 will energize blower motor 226 as
the pickup
head 224 approaches the desired article, and in fact only when it is in the
immediate proximity of
the desired article (and not earlier), due to control system 400 maintaining
updated information
about the height of the stack of articles in each bin 216. The height is
assumed to be at a
predefined level upon article refilling/filling of the vending machine 10 by
the operator. Control
system 400 may confirm the assumed height by moving the pickup head 224 at a
reduced speed
towards an article at the top of a bin 216 on the first retrieval attempt
after the storage area has
been refilled, and then compare the assumed height to the actual height.
Memory 404 can be
19
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
pre-programmed with specific article heights in advance, or the heights can be
learned by control
system 400 by comparison of prior vend heights in each bin. Once the height of
the top article is
known, control system 400 will be able to always know the height of the next
"top" article in
that bin. Subsequently, control system 400 may cause the pickup head 224 to
approach the
articles in that storage area at a higher speed, and only slow down when in
the immediate
proximity of the next "top" article in that bin. The technique to slow down
upon the pickup head
224 approaching the next article also helps ensure that the stored articles
will not be damaged by
the pickup head 224.
It is noted that in an alternate embodiment, a simpler way of controlling
operation of
blower motor 226 and the approach of pickup head 224, without knowing the
specific article
height, would be to turn on the blower motor 226, or slow down the pickup head
224 just prior to
the learned stack height of the prior vend.
When a "reset" switch (not shown) is activated by the machine operator,
control system
400 automatically defaults to using the above height detection technique since
it can be assumed
that the operator may have changed the product load levels and consequently
the product heights
in each bin.
For the embodiments described herein, it is assumed that energization of the
blower
motor or other suction creating device, is meant to be equivalent to the
appearance of a prompt
package securing force, i.e., suction, at the pickup head 224.
A communication system 414 is connected to control system 400 so as to provide
article
inventory and vending machine operation information to a remote location, as
well as to allow
for control of the operation of the vending machine from a remote location. In
this regard,
communication system 414 may include a connection to means for making a wire-
line and/or
wireless transceiver interface through which a communication link with a
remote computer can
be established. Additionally, the communication system 414 may communicate
with a plurality
of other similarly connected vending machines in the same general area and
communicate
therewith using the wire-line interface or wireless communication. Even
furthermore,
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
communication system 414 can provide for communication with multiple vending
machines
and/or a local server/controller, in a local site along a LAN (local area
network), LAWN (a local
area wireless network) or a WAN (wide area network). The remote computer may
comprise a
database which receives andlor accumulates the operational data from one or
more vending
machines, which data is then accessible (via, e.g., the Internet, using a
wired or wireless
connection) using appropriate encryption, to others, such as route drivers,
machine operators,
machine owners, product suppliers, etc. Furthermore, the remote site may give
feedback to the
vending machines, such as authorization information, which can control its
operation, such as
allow its continued operation.
In the embodiment illustrated herein, blower motor 226 provides a relatively
high volume
of airflow but relatively modest negative air pressure. The illustrated
embodiment is particularly
useful for picking up flexible packages since a momentary or even sustained
leak in the coupling
to the packaging to the article will generally not result in dropping of the
package, while at the
same time offering extreme versatility due to the ability to pick up a wide
variety of shaped
objects of varying weight and size. In some applications it may be
advantageous to provide a
negative air pressure source which provides a relatively substantial negative
air pressure but low
rate of airflow, such as is provided by a vacuum pump, alone or in combination
with a storage
tank couple to the suction hose via a valve and air hose. Alternatively a
compressor could be
used in combination with a venturi device to create a vacuum. To get
operational performance
with a vacuum pump that is similar to that of blower motor 226 would require a
storage tank
and/or vacuum pump of substantially larger size.
Alternative embodiments for the robotic hose positioning mechanism described
above are
contemplated to be within the scope of the present inventions. For example,
instead of using a
combination of left/right slides 234 and' support beams 236a and 236b, a
roller/guide rail
combination could be used. Support beams 236a and 236b may comprise a support
plate having
two outwardly facing, i.e., opposed, L-shaped rails, along its edges. The
function of slides 234
could be accomplished by fixing a pair of brackets to opposed ends of beam
230, each bracket
including a pair of spaced apart and inwardly facing rollers which engage and
follow the
opposed rails on the support plate. Furthermore, the spaced apart and inwardly
facing rollers
21
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
could each comprise a set of rollers positioned to be angled 90 degrees with
respect to each
another, so as to engage or follow the two orthogonal surfaces of the L-shaped
rails. Such
arrangement may result in a coupling of carriage 218 to beam 230 which needs
less adjustment
for proper operation. Furthermore, as previously noted, the event of
substantially horizontal
alignment of the storage bins, the robotic hose positioning mechanism can
position carriage 218
for movement in a vertical plane which is substantially flat {i.e., in the ~1Z
or ~/Z plane) or in
fact a vertical curvilinear plane. Additionally, as previously noted, in some
aspects of the
invention, it may be desirable for the robotic hose positioning mechanism to
include a rotary
device (R, 8) of the type including an I beam of fixed length (or telescopic
sections), fax
establishing the "R" movement of the gripperlpickup head, which pivots for
establishing the "B"
movement. Alternatively, in other environments for the invention the robotic
hose positioning
mechanism may include an articulated arm or scissor system, or other
technique.
Furthermore, the inventions described in the illustrated embodiments could
also be of
benefit in apparatus using other types of robotic positioners, such as a
rotary type device (R, 0),
an articulated arm, telescoping or scissor system, etc, as may be beneficial
in a specific
combination of the various elements described herein.
Even furthermore, although only a single storage area 215, hose 220 and
carriage 218 are
shown in the illustrated embodiment, the invention described herein could also
be used in a
dispensing apparatuslarticle handler of the type having multiple storage areas
andlor robotic
article handling mechanisms, such as two robotic mechanisms (both positioned
vertically or
horizontally or mixed, and one vertically and one horizontally) each one
serving a different
storage area. Furthermore, when multiple article handling mechanisms are
provided, each can be
tailored for a particular operation. For example, one may have a relatively
large diameter pickup
head and use a high airflowlmodest suction vacuum supply device, while the
other may have a
relatively small diameter pickup head and use a low airflow/high suction
vacuum supply.
In this regard, FIGURE 5 illustrates a multiple storage area arrangement 500,
where a
single article handler of the type previously noted serves 3 adjacent storage
areas. In one
embodiment each area may be for storing stacks of articles aligned in the same
direction as in the
22
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
other areas. One storage area 502 may have an ambient environment, while the
other storage
areas may be cooled, e.g., one area 504 being refrigerated and one area 506
being frozen. This
arrangement may typically find use for dispensing in a compact, reliable and
efficient vending
structure: salty snacks (such as bags of potato chips} from the ambient
storage area, cooled
drinks (such as soda) from the refrigerated storage area, and frozen snacks
(such as ice cream)
from the frozen storage area. Furthermore, an arrangement of this type may be
particularly
advantageous in that the frozen compartment can be used for maintaining the
quality of the
stored articles until they are close to being needed for dispensing, as
determined by an intelligent
controller. At a predetermined appropriate time before dispensing, a certain
amount of articles
can be moved from the frozen area to the refrigerated area. This technique
also finds particular
advantage in the event that the third storage area is in fact a temporary
storage area which is used
for individually heatinglcooking the articles, such as, e.g. frozen pizzas,
using an oven or
microwave. In this case the qualityJshelf life of the frozen pizza is
maintained by not moving
them to the refrigerated area until the refrigerated area has been depleted to
the point that it needs
replenishment, at which time they are sequentially moved from the frozen area
to the refrigerated
area. This technique substantially reduces the time needed for heating the
pizza while the
customer is waiting, while at the same time allowing for storage of the pizza
in a frozen manner,
thereby substantially increasing its shelf life and reducing the labor costs
involved in stocking the
machine. In this arrangement, the refrigerated storage areas can include
thermal separators at
their top portions, such as an air curtain or sliding thermal panels.
Fig. 6 illustrates an arrangement where the single article handling mechanism
services
two horizontally aligned in article storage areas. Backspace, area 602 being
an ambient
environment and area 604 being a refrigerated environment. The article
handling mechanism
606 can be constructed in a manner such as previously described using support
beam 230 and
carriage 218 so that mechanism 606 can "live" in the ambient area 602, and
travel into the
refrigerated area 604 through swinging door 608 as needed. Areas 602 and 604
can each. include
their own article ID device 254 or share a common ID device.
Additionally, separate hoses and hose positioning mechanisms can also be
useful in order
to speed up retrieval and delivery of stored articles to a customer. FIGURE 7
shows such as a
23
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
rapid article dispenser, of the type having two horizontally displaced storage
areas. Although
separate hoses and hose positioning mechanisms are used, they may share a
single source of
suction (e.g., blower motor 226), airflow sensor and vacuum breaker. , a
single hose, hose
positioning mechanism and hose storage area could be used in a further
embodiment where the
single hose services more than one article storage area, such as the
refrigerated and non
refrigerated storage areas shown by arrangement 700 in FIGURE 7, wherein
support beam 230
and carriage 218 is positionable between the two storage areas having
different ambient
environments via a door mechanism 702. Each robotic article handling mechanism
could have
its own article ID device 254, or they could share a single article ID device
254.
Fig. 8 illustrates a vending machine having a single article handling
mechanism with dual
customer interface areas (each including a product selection apparatus such as
a keypad or touch
screen, payment system, and product retrieval door), for example, one on the
left side and one on
the right side; with a common graphics display therebetween. This machine can
service two
purchasers at substantially the same time since customer selections and
payment typically take a
substantial amount time compared to the actual time needed for the dispenser
to deliver the
selected product.
A further one of such arrangements is shown in FIGURE 9, where cabinet 600
includes
therein an upper area 602 which is non-refrigerated (and may even be heated)
and a lower area
604 which is refrigerated (and may even be divided into, e.g., two additional
sections, one area
606 being frozen and another area 608 being merely cooled). This arrangement
is particularly
advantageous since hot air tends to rise and cool air tends to sink.
Alternatively, one storage area
may be oriented for vertical storage of products and the other one, or even
multiple ones,
arranged for horizontal storage. In this case a separate hose, hose
positioning mechanism and
hose storage area may be required for the differently oriented storage areas.
TO DO: insert any other Robotlbin configurations.
24
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
In the above arrangements it is noted that the article handling mechanism can
have other
configurations such as the forenoted telescopic tubing, scissors, or R,theta
arrangement.
Additionally, the articles can be consumer goods, such as office supplies,
printer cartridges etc.
Referring simultaneously to FIG.'S 1 Oa, 10b, I Oc, 1 Od and 10e, one type of
an article
storage bin constructed and operating in accordance with the principles of the
present invention
is shown. These Figures illustrate a perspective view, a side section view, a
front section view,
and a top view, respectively, o~ one embodiment of the storage bin, and an
article support used in
conjunction with the article storage bin in accordance with the invention. The
single storage bin
1000 illustrated, corresponds to one of the storage bins 216 illustrated in
Figures I-3. In one
embodiment, storage bin I 000 comprises an elongated columnar storage magazine
having a base
1001, an open top 1003, and a rectangular cross-section dimensioned to hold a
particular type of
product therein, such as a bag of potato chips 1005 as illustrated in Figure l
Od. Considering that
a typical vending machine has a height of approximately 6 feet, storage bins
1000 could have a
height of about 41/~ feet, leaving 1 1/2 feet fox movement of hose 220 and
carriage 218, as well
as clearance between the top of the bins and the bottom of carriage 218 for
allowing removal of
the articles from the bins. If protective measures in accordance with the
principles of the present
invention were not provided, such a stack of fragile articles would result in
the lowermost
articles in the stack being damaged do to the weight of the products stacked
above. Accordingly,
in accordance with the principles of the present invention "edge catching"
article supports 1002
(an individual one of which is shown in FIG 10e) are provided on opposed walls
I 004 and 1006
in a spaced manner along the height of bin 1000. Article supports 1002
comprise a generally IJ-
shaped flexible plastic sheet, having a base portion 1008 and two extending
tab pardons 1010.
falls 1002 and 1004 include pairs of slots 1012 along their length which are
dimensioned for
receiving tab portions I 010.
Conventional techniques can be used for forming the basic shape for article
storage bins
1000 and slots 1012. Automatic assembly equipment can be used for inserting
the tab portions
1010 into the interior of the bin and securing the base 1008 of article
supports 1002 to the
exterior of the bin walls using an adhesive applied to base I008. Article
supports 1010 are
manufactured with a crease 1014 across to for a the airway so that tab
portions 1010 operate as a
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
flap. Note that the length of tabs 1010 is such that significant space is
available between the tabs
intruding into the interior space of bins 1000 so that the article gripping
mechanism (which in the
previous Figures comprises a suction pickup head 224) and pass therethrough in
an uninterrupted
manner, yet they are long enough so as to catch opposed edges of the article
packaging 1005
(shown in Fig 10d). Furthermore, the base portion 1008 of article supports
1002 is adhered to
the lower portion of the openings in walls 1004 and 1006, in a manner so that
the thickness of the
hole in the wall of the bin at the lower edge of each of slots 1012 "bias"
tabs 1010 in an
upwardly facing direction. Constructed and assembled in this manner, tabs 1010
will have a
resistance to bending in the downward direction which will be greater than its
resistance to
bending in the upward direction. Accordingly, tabs 1010 will tend to support
the articles stored
in bin 1010; however, at the same time tabs 1010 will present very little
resistance to the articles
as they are removed from the bin by the picker head, so as to thereby not
loosen the grip by the
pickup head on the article being transported. The number of pairs of article
supports needed
along the height of each bin is a matter of designed choice, and may depend,
for example, on the
weight of the articles.
To facilitate loading of bins 1000 with articles to be dispensed, in one
embodiment of the
invention, sidewall 1016 includes openings 1018 and 1020. In operation, since
retrieval of
products is from the top of the bin, loading of the bin must take place from
the bottom in order to
preserve a first-in, first-out (FIFO) product dispensing. Accordingly, the
service person will
insert the articles into the larger opening 1018 at the bottom of bin 1000 and
then using his/her
hand, push them upward in the bin. Opening 1020 is provided to assist movement
of the inserted
products towards the top of bin 1000. In an alternative embodiment, base 1001
may merely
comprise an opening, it may comprise a pair of article supports 1 O 10, or
even one large flexible
support which has a shape substantially similar to the cross-sectional shape
of bin 1000, in order
to help bin 1000 keep its rectangular shape.
FIG l Of shows cross section and perspective views of article storage bins
similar to those
of Figure 10 a, however the flaps are staggered in this embodiment. Figure l
Og illustrates
another further embodiment which is similar to Figure 10a, however having
flaps on only one
sidewall thereof. Figure 10 H. illustrates a further embodiment where article
supporting flaps are
26
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
formed as hinged shelves 1022. Dimples other protrusions 1024 are provided in
a sidewall of the
bin in order to prevent the hinged fram swinging in one direction, in the
illusfirated embodiment,
in the lower direction. Thus, hinged shelves 1022 function in a manner
substantially similar to
flaps 1010. Figure 10 I to substantially similar to Figure 10j, however in
this embodiment
shelves and 1022 on only positions along one sidewall of the bin, and the
shelves are provided
with varying depths of protrusions into the interior of the bin. Figure 10 J,
a substantially similar
to Figure IOi" however shelves 1022 are provided on opposite sidewall to the
bin, and they are
provided in a staggered opposed manner along the length of the bin.
FIG.' S I I a and l l b illustrate top and side perspective views of a further
embodiment of
an article storage bin constructed in accordance with the principles of the
present invention. As
shown therein, each bin 1100 as an exterior cross-section and general shape
substantially the
same as described above with respect to Fig.'s 10, however corner article
supports 1 I02 are
positioned along each of the corners of bin 1100. The article supports 1102
are formed by
providing in a spaced manner along each of the corners of bin I 100, a series
of slots 1 I04. Next,
that portion of the corner of bin 1100 which is immediately below each slot I
I04, is pressed so
as to "intrude" into the interior of bin 1 I00. The top portion of each
intrusion forms an article
support 1102 which can support a corner of a flexible package in a manner
similar to the support
provided by tabs 1010 for the packages 1005, as shown in Figure l Od, when a
series of flexible
packages are stored one on top of each other within bin 1100. Openings 1118
and I 120 are
formed in the lower portion of bins 600 and function and a mar~z~er similar to
openings 1018 in
1020 shown in Figure 10, for loading bins I 100 with articles to be vended.
Alternatively, the
bottom portion of bins 1100 can be arranged similarly to the alternative
embodiments noted
above for bins 1000.
FIG. 12a and 12b illustrate perspective views of further embodiments of an
article storage
bin constructed in accordance with the principles of the present invention, in
order to facilitate an
eff dent refillinglfilling of the storage bins with articles, and at the same
time preserve a "first
in/first out" (FIFO) refillingJfilling scheme. As shown therein, the full
height of the storage bin
1200 is formed by interlockinglstacking a plurality of sectional bins 1202.
Each bin section 1242
27
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
includes a body portion having a standard length L and a standard width Wl,
and a top portion
having a somewhat narrower width W2. W 1 and W2 are dimensioned so that the
top portion of
one bin 1202 can be inserted into the bottom portion of an adjacent bin 1202.
This arrangement
facilitates FIFO loading of the vending machine, since each bin section1202
can be prepackaged
with goods by the manufacturer or by the service personnel at the warehouse,
and upon servicing
of the machine the empty and partially empty bins can be quickly and easily
replaced with new
bins full of fresh articles to be vended. Although not shown in Figure 12,
each bin section 1202
preferably includes "anti crush" intrusions (package supports), such as shown
in Figures 5 and 6.
Furthermore, a bottom portion of each bin section 1202, or for that matter,
bins 1000 or 1100,
may be open, or alternatively, if some support for the articles is desired
during transportation of
the bin, have a bottom which is removable, or a bottom formed by a flexible
package support,
such as tabs 1010 shown above. In this regard it is noted that the prepackaged
bins/bin sections
can be transported as a group in a container such as one of the forenoted
macro boxes 219, from
a waxehouse or even from the article manufacturer, and the package supports of
the present
invention will serve to protect the integrity and quality of the products
during such transport.
The bin sections 1202 of Fig. 12a fit together with a friction fit, while the
bin sections of Figure
12b fit together with a snap or "detent" mechanism 1204 and for, which may
comprise a slot or
depression which is engaged by a biased flap or ball, such as conventionally
used for providing a
snap fit.
zo
FIGURES 13a and 13b illustrate cross-section and perspective views of even
further
embodiments of article storage bin system constructed in accordance with the
principles of the
present invention, wherein a "sleeve" 1302 of pre-packaged articles 1304 is
used for loading an
article storage bin, such as one having a configuration as shown in FIG.'s 10,
11 or 12. Each
sleeve 1302 comprises a low-cost wrap, such as stiff paper, which encircles a
pre-assembled.
group of articles. The sleeve 1302 can then be inserted into a storage bin
through its open
bottom (or e.g., the side loading opening 1020), for refillinglfilling. The
inserted sleeve of
articles is then pushed upward in the bin, using the slot openings 1018 and
1020, to allow
insertion of additional sleeves of articles, as appropriate, for completely
refilling/filling the bin or
bin section. In order to facilitate engagement of the edges of the articles
within the sleeves by
the flexible tabs 1305, or other package supports in the bins or bin sections,
the sleeves have
28
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
appropriate openings 1306 (in the illustrated embodiment on opposite sides
thereof), dimension
to allow the flexible tabs 1305 to .contact and support the articles held
therein. Fig. 13b
illustrates cross-section and perspective views of a further embodiment
similar to Fig. 13 a,
however sleeves 1302 include their along article supporting flaps 1302'
therein. Alternatively,
sleeves 1302 may merely be used for "releasing" a group of the articles into
the bin in an
efficient manner, and as the articles are introduced, the sleeve is removed.
In a manner similar to
what is noted above for bins 1000, 1100 or 1200, a bottom portion the each
sleeve may be open,
or alternatively, if some support for the articles is desired during
transportation of the sleeve,
have a bottom which is removable, or a bottom formed by a flexible package
support, such as
tabs 1010 shown above.
Many of the benefits of the inventions described herein could also be
particularly useful
in an article dispensing apparatus of the type having a refrigerated
compartment, such as a chest
freezer including various doors thereon (such as described for the ice cream
dispenser in LTS
patent 5, 240,139), in combination with the forenoted controls for creating
and/or maintaining
suction at the gripping end of the suction hose
While this invention has been particularly shown and described with reference
to
preferred embodiments thereof, it will be understood by those skilled in the
art that various
changes in form and details may be made therein without departing from the
spirit and scope of
the invention as defined by the appended claims. In fact, many such changes
are already noted
in this description. Those skilled in the art will recognize, or be able to
ascertain using no more
than routine experimentation, many equivalents to the specific embodiments of
the invention
described specifically herein. For example, although supports 1002 are
indicated as being
constructed of a flexible plastic, in fact other materials, such as cardboard,
could be used. In the
event that the thickness of the sidewalls of bins 1000 is insufficient to
provide the above noted
"biasing" effect, additional "flat strips" could be adhered to the underside
of each hole to provide
a desired "thickness". Such strips could be formed by a solid panel having a
longitudinal shape
corresponding with that of the inner side wall of a bin 1000, having cut-outs
therein
29
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
corresponding to the position and dimension of slots 1012, or a Even
furthermore, instead of
supports 1002 having flat tab portions 1010, the article supports could
instead comprise "rod-
like" intrusions into the bin, such as found in a brush. Additionally, instead
of providing a
separate element for forming supports 1002, bins 1000 may be manufactured
using a mufti-layer
material, and tabs 1010 can be formed from an inner layer of the bin material.
In an even further
embodiment, the article intrusions/supports can comprise a plurality of
longitudinally oriented
strips 1900 of flexible material, such as polyethylene, having "steps" formed
(such as by die-
cutting) therein, as shown in FIGURE 14-17. Strips 1400 can be adhered to the
inner corners
(FIGURES 14 and 16) or walls (FIGURES 15 and 17) of the article storage bins
as shown, and
their "steps" function to at least partially support the weight of the
articles stored therein.
Furthermore, the shape of the inserts could have a wavy, sinusoidal-type
pattern. Alternatively,
the inside of the bin could itself have a profile which acts to support the
product, such as an
internal spring/flexible portion which may be extruded integrally with the
formation of the bin
walls, or such a piece 1000 which is manufactured separately and then added to
the interior of
the bin. FIG. 18 , which illustrate a perspective, longitudinal cross section
and top view of a
further bin variation where article supports which herein comprise a wavy-
shaped 2D panel 1802
formed/placed/adhered adjacent to the interior walls of the bins. Furthermore,
although in the
illustrated embodiments an article containment bin is shown which is
rectangular in shape, other
types of article containment techniques are consistent with the present
invention. For example,
article containment bins are not required to have 4 sides, especially in the
event that they are not
arranged in a vertical orientation; article containment bins can be slanted or
even horizontal. In
this case only three or even two wall portions may be required, however it may
still be desirable,
and it is possible to use, the anti crush techniques described above.
Figure 19 illustrates a vending machine wherein a single bin container (macro
bin) 1900
includes wheels in order to facilitate a complete "swap-out" of the contents
of the storage area of
the vending machine.
Fig. 20 illustrates an article handling/storage area combination wherein two
article
handlers 2002 and 2004 provide article handling for apparatus stored in two
separate storage
areas 2006 and 2008. A single source of suction 2010 can provide the suction
needs for each of
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
the individual article handlers. Area is 2006 and 2008 can both be an ambient
environment, or
some other environment, as will be apparent from the following Figures.
Fig. 21 illustrates a vending machine similar to that of Figure 1, however, in
place of the
keypad portion of the user interface, a touch screen 2102 is provided.
Fig. 22 illustrates an article handling/storage area combination wherein two
article
handlers 2202 and 2204 provide article handling for apparatus stored in two
separate storage
areas 2206 and 2208. A single or separate sources of suction can provide the
suction needs for
the individual article handlers. Area is 2006 and 2008 can both be an ambient
environment, or
some other application, one refrigerated and one, for example, ambient. A
thermal separator, not
shown, could be used in the refrigerated area. Individual article ID devices
2206 and 2208 axe
provided. Figure 23 is substantially similar to Fig 22, but illustrates the
use of three vertically
stacked storage areas 2302, 2304, 2306 and respective article handlers. These
areas may provide
a frozen, cooled, and ambient environment, respectively.
Figure 24 illustrates an article dispenser embodiment where the stacks of
articles are
substantially horizontal and carriage 218 moves in a vertical plane in front
of the dispensing end
of the stacks. Note weight bearing supports 2402 are still useful in this
embodiment, and do not
present impediment to article removal by the pick up head. Fig 25a and'25b
illustrate an article
dispenser embodiment where the stacks of articles axe vertical and the weight
bearing supports
are fixed. In Fig 25b each article includes its own support.
Figure 26 illustrates an article dispenser embodiment having dual user
interfaces 2602
and 2604 and delivery ports 2606 and 2608, respectively, which allow two users
to
simultaneously make payments and selections and receive products. The interior
of this machine
could be as shown in Fig 20 or 22.
Figure 27 illustrates various configurations for container 219, sometimes
referred to as a
macro box, because it holds multiple ones of bins 216 (useful for the purpose
of "swapping"
complete, or substantially complete, inventory/storage areas in an article
dispenser. Figure 19
31
SUBSTITUTE SHEET (RULE 26)
CA 02410047 2002-11-20
WO 02/01525 PCT/USO1/16847
illustrates wheels for the boxes. Box 2701 includes all equally sized bins,
box 2702 includes two
equally sized sub-boxes 2703 and 2704 (each of them including bins of varying
sizes and
shapes). In a similar manner, boxes 2705 and 2706 show boxes having 3 and 4
sub-boxes,
respectively.
Furthermore, although substantially rectangular article storage bins have been
described,
circular/curved-walled bins can be used. It is also noted that although_a
suction providing air
hose 220 has been disclosed in the described preferred embodiments, in fact a
solid element
having a gripper at its free and, such as a mechanically operated claw (or an
electromagnetic
device or even a self contained suction generator), could also be used. Such
equivalents are
intended to be encompassed in the scope of the appended claims.
32
SUBSTITUTE SHEET (RULE 26)
