U.S. patent application number 11/077223 was filed with the patent office on 2005-09-29 for method and apparatus for storing articles for use with an article handling device.
Invention is credited to Chirnomas, Munroe.
Application Number | 20050211720 11/077223 |
Document ID | / |
Family ID | 34988569 |
Filed Date | 2005-09-29 |
United States Patent
Application |
20050211720 |
Kind Code |
A1 |
Chirnomas, Munroe |
September 29, 2005 |
Method and apparatus for storing articles for use with an article
handling device
Abstract
An article storage container, comprising a bin for storing in an
a columnar manner, articles to be dispensed from a dispensing end
of the bin. A plurality of article supporting intrusions positioned
in a spaced manner along at least a portion of the length of the
bin function to provide load bearing support for articles stored in
the bin. Sectional bins, bin sleeves and macro bins are also
disclosed for facilitating rapid, accurate and efficient loading of
articles into an article dispenser.
Inventors: |
Chirnomas, Munroe; (Morris
Township, NJ) |
Correspondence
Address: |
LAWRENCE C. EDELMAN, IP COUNSEL FASTCORP
60 E. HANOVER AVE, B-2
MORRIS PLAINS
NJ
07950
US
|
Family ID: |
34988569 |
Appl. No.: |
11/077223 |
Filed: |
March 10, 2005 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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11077223 |
Mar 10, 2005 |
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10215101 |
Aug 8, 2002 |
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10215101 |
Aug 8, 2002 |
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PCT/US01/16847 |
May 23, 2001 |
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60206363 |
May 23, 2000 |
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Current U.S.
Class: |
221/92 |
Current CPC
Class: |
G07F 11/14 20130101 |
Class at
Publication: |
221/092 |
International
Class: |
B65H 001/00 |
Claims
1. A method for stocking a vending machine with columnar-shaped
bins having positioned therein articles to be vended, comprising:
providing a longitudinal segment of a bin, said segment having a
plurality of articles stored in a stacked manner therein;
assembling multiple ones of said bin segments together so as to
form one or more continuous stacks of articles to be dispensed; and
placing said assembled multiple bin segments in a storage area of
said vending machine.
2. The method of claim 1 wherein said assembling step comprises
engaging end portions of said segments together, which end portions
are adapted to engage the end portions of adjacently positioned bin
segments in an interlocking manner.
3. The method of claim 1, wherein said bin segments include at
least one pair of opposed article supporting intrusions which
project into the interior of said bin segments, said article
supporting intrusions functioning to support at least a portion of
the weight of at least one article intended to be stored
therein.
4. The method of claim 1, including a further step of providing one
or more sleeves for holding a prepackaged plurality of articles to
be vended, and an even further step of inserting multiple ones of
said segments into said sleeves, for forming one or more of said
continuous stacks of articles to be dispensed.
5. An automated article retrieving apparatus including an article
storage area adapted to have selectively positioned therein a
removable article storage structure which stores a plurality of the
articles to be retrieved, the removable article storage structure
comprising; a support (219 and 1200 or 1300) adapted for being
selectively positioned into and out of an article storage area of
the article retrieving apparatus, wherein: at least a portion of
the support (219) includes wall portions for facilitating the
formation of a plurality of adjacently aligned article storage
columns, the columns store therein a plurality of pre-packaged
groups of the articles to be retrieved (1202 or 1302), and the
columns providing guidance for movement of the articles stored
therein in a direction toward an article grasping portion of the
article retrieving apparatus.
6. The automated article retrieving apparatus of claim 5, wherein
one end of the column (1300) is adapted for use by the article
grasping apparatus for retrieving articles stored therein, and an
opposite end of the column is adapted for use for refilling the
column with articles to be stored.
7. The automated article retrieving apparatus of claim 5, wherein
said support (219) comprises: a base having a cross-section adapted
for being positioned adjacent a portion of the article storage area
which is opposed to the article grasping apparatus, said base
providing support for said wall portions so that they extend away
from the base and toward the article grasping apparatus.
8. The automated article retrieving apparatus of claim 5, wherein
said wall portions include outer perimeter walls of the support
(219).
9. The automated article retrieving apparatus of claim 5, wherein
the columns are formed by a plurality of columnar-shaped
article-holding bin segments (1202).
10. The automated article retrieving apparatus of claim 5, wherein
each column is formed by columnar-shaped article-holding bin
sleeves (1300).
11. The automated article retrieving apparatus of claim 6, wherein
each column is formed by columnar-shaped article-holding bin
sleeves (1300), each bin sleeve adapted to house a plurality of bin
segments (1306).
12. A method of stocking an article retrieving apparatus with
articles to be retrieved, comprising the following steps: providing
a support (219) which holds a plurality of pre-packaged groups of
articles to be retrieved (bins segments 1202 or sleeves 1302) so
that the articles are arranged in a plurality of adjacently
positioned, paraxially aligned, article storage columns, which
columns provide guidance for movement of the articles stored
therein in a direction toward an article grasping portion of the
article retrieving apparatus, and positioning the support (219,
1202 or 1300/1302) into and out of the article storage area of the
article handling apparatus.
13. The method according to claim 12, further comprising the steps
of: positioning the support (219, 1202 or 1300/1302) out of the
article storage area of the article handling apparatus and onto a
supporting surface; using openings at one end of the columns for
introducing therein columnar-shaped bin segments which are
pre-packaged with groups of articles to be retrieved, and using
openings at an other end of the columns which is opposite the one
end, for removing columnar-shaped bin segments which are empty.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This patent application is a continuation of and claims
priority under 35 USC 120 of U.S. patent application Ser. No.
10/215,101, filed Aug. 7, 2002, entitled METHOD AND APPARATUS FOR
STORING ARTICLES FOR USE WITH AN ARTICLE HANDLING DEVICE, which
itself is a continuation of PCT/US01/16847, filed May 23, 2001,
entitled METHOD AND APPARATUS FOR STORING ARTICLES FOR USE WITH AN
ARTICLE HANDLING DEVICE, which itself claims priority under 35 USC
119 and 35 USC 120 of U.S. Provisional Patent Application No.
60/206,363, filed May 23, 2000, entitled METHOD AND APPARATUS FOR
ARTICLE HANDLING, SUCH AS FOR A VENDING MACHINE. The entire
disclosure of these applications, including the drawings and
attachments thereto, are hereby incorporated into this application
as if fully set forth herein.
BACKGROUND OF THE INVENTION
[0002] 1. Field of the Invention
[0003] 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 columnar/stacked manner.
[0004] 2. Description of the Prior Art
[0005] 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 and/or 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.
[0006] U.S. Pat. No. 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 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.
[0007] Article storage is provided in the forenoted U.S. Pat. No.
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.
[0008] 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.
[0009] U.S. Pat. No. 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 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.
[0010] U.S. Pat. No. 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. Pat. No.
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.
[0011] U.S. Pat. No. 5,651,476 entitled MODULAR VENDING MACHINE and
U.S. Pat. No. 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.
[0012] 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 presented to the articles during, for example,
transportation from the manufacturer or a warehouse, to the storage
area in the article dispenser.
[0013] 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
[0014] 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.
[0015] 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.
[0016] 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.
[0017] More specific objects of the present invention are to:
[0018] 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 shipping/transportation of
the articles in a columnar form;
[0019] 2) provide article storage bins which are designed so as to
facilitate enforcement of the loading of articles in a FIFO
manner;
[0020] 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;
[0021] 4) provide a support shelf or table in association with the
dispensing apparatus which facilitates FIFO refilling/filling of
the storage bins.
SUMMARY OF THE INVENTION
[0022] 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.
[0023] 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.
[0024] 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 in/first
out" (FIFO) refilling/filling 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 refilling/filling 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.
[0025] 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 refilling/filling through
an opening at or near a bottom portion thereof. The inserted sleeve
of articles 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.
[0026] 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
[0027] FIG. 1 is a front perspective view of a vending machine
constructed and operating in accordance with the principles of the
invention.
[0028] FIGS 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.
[0029] FIG. 4 is a functional block diagram illustrating the
cooperation of the main mechanical and electrical components in the
vending machine of FIG. 1.
[0030] FIGS. 5, 6, 7, 8 and 9 illustrate combinations/orientations
of various article handling mechanisms and storage areas.
[0031] FIGS. 10a, 10b, 10c, 10d 10e, 10f, 10g, 10h, 10i and 10j
illustrate perspective side section, front section, and top views,
of article storage bins and article supports therefore, constructed
and operating in accordance with the principles of the present
invention.
[0032] FIGS. 11a and 11b 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.
[0033] FIGS. 12a and 12b illustrate 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.
[0034] FIGS. 13a and 13b illustrate 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 FIGS. 10 and 11.
[0035] FIGS. 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.
[0036] FIGS. 18-27 illustrate further useful embodiments in
accordance with the invention.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS OF THE INVENTION
[0037] 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
and/or 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.
[0038] 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. 1, 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.
[0039] 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 that are vendible
by vending machine 10, as well as the price and/or selection
information for the articles. Panel 18 is typically back-lit using
fluorescent bulbs, not shown.
[0040] A customer retrieval area 22 is formed in the panel 18 on
door 14 so that articles stored therein can be discharged to a user
of vending machine 10.
[0041] 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 for 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 card 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
cards. 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 furthermore, a user operated touch screen could replace
pushbutton mechanism 40 and display 24. Although not shown in FIG.
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.
[0042] FIG. 2 is front perspective view of the vending machine of
FIG. 1, 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.
[0043] 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 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 FIG. 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
[0044] 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.
[0045] 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 storing fragile articles 223 to be vended by
machine 10. Further details relating to bins 216 are provided later
in conjunction with the description for FIGS. 5-10.
[0046] 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
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.
[0047] FIG. 27 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.
[0048] 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.
[0049] 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 U.S. Pat. No. 6,230,930 issued May 15, 2001
and entitled METHOD AND APPARATUS FOR VENDING PRODUCTS, and in U.S.
patent publication US 2001/0000609 of Rudick, et al, published May
3, 2001. The article storage bins of the present invention could
find 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.
[0050] 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. Pat. No. 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.
[0051] 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
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.
[0052] 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 front/back 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 (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 carriage 218, in the left/right (X) directions.
[0053] 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.
[0054] 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.
[0055] 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.
[0056] 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.
[0057] 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, .theta.), 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.
[0058] In the environment of the present invention, it is noted
that FIGS. 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.
[0059] 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 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.
[0060] 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.
[0061] 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 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.
[0062] 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.
[0063] 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 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.
[0064] 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.
[0065] 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.
[0066] 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.
[0067] 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, 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 and/or 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.
[0068] 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.
[0069] 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 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 X/Z
or Y/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, .theta.) of the type
including an I beam of fixed length (or telescopic sections), for
establishing the "R" movement of the gripper/pickup head, which
pivots for establishing the ".theta." movement. Alternatively, in
other environments for the invention the robotic hose positioning
mechanism may include an articulated arm or scissor system, or
other technique.
[0070] 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, .theta.),
an articulated arm, telescoping or scissor system, etc, as may be
beneficial in a specific combination of the various elements
described herein.
[0071] 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
apparatus/article handler of the type having multiple storage areas
and/or 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 airflow/modest suction vacuum supply
device, while the other may have a relatively small diameter pickup
head and use a low airflow/high suction vacuum supply.
[0072] In this regard, FIG. 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 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
heating/cooking the articles, such as, e.g. frozen pizzas, using an
oven or microwave. In this case the quality/shelf 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.
[0073] FIG. 6 illustrates an arrangement where the single article
handling mechanism services two horizontally aligned in article
storage areas, 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.
[0074] 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. FIG. 7 shows such as a 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 in FIG. 7, wherein support beam 230 and
carriage 218 are positionable between the two storage areas having
different ambient environments. Each robotic article handling
mechanism could have its own article ID device 254, or they could
share a single article ID device 254.
[0075] 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.
[0076] A further one of such arrangements is shown in FIG. 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.
[0077] 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.
[0078] Referring simultaneously to FIGS. 10A, 10B, 10C, 10D 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, of 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 FIGS. 1-3. In one
embodiment, storage bin 1000 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 FIG. 10D. Considering that a typical vending machine has a
height of approximately 6 feet, storage bins 1000 could have a
height of about 41/2 feet, leaving 11/2 feet for 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. 10D) are provided on
opposed walls 1004 and 1006 in a spaced manner along the height of
bin 1000. Article supports 1002 comprise a generally U-shaped
flexible plastic sheet, having a base portion 1008 and two
extending tab portions 1010. Walls 1002 and 1004 include pairs of
slots 1012 along their length which are dimensioned for receiving
tab portions 1010.
[0079] 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 1008. Article supports 1010 are manufactured with a
crease 1014 across to for a the airway so that tab portions 1010
operate as a 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.
[0080] 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 1010, 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.
[0081] FIG. 10F shows cross section and perspective views of
article storage bins similar to those of FIG. 10A, however the
flaps are staggered in this embodiment. FIG. 10G illustrates
another further embodiment which is similar to FIG. 10A, however
having flaps on only one sidewall thereof. FIG. 10H. illustrates a
further embodiment where article supporting flaps are formed as
hinged shelves 1022. Dimples other protrusions 1024 are provided in
a sidewall of the bin in order to prevent the hinged from swinging
in one direction, in the illustrated embodiment, in the lower
direction. Thus, hinged shelves 1022 function in a manner
substantially similar to flaps 1010. FIG. 10I to substantially
similar to FIG. 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. FIG. 10J. a substantially similar to FIG. 10I, 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.
[0082] FIGS. 11a and 11b 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. 10, however corner article supports 1102 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 1100, a series of slots 1104. Next, that portion of the corner
of bin 1100 which is immediately below each slot 1104, is pressed
so as to "intrude" into the interior of bin 1100. 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 FIG. 10d,
when a series of flexible packages are stored one on top of each
other within bin 1100. Openings 1118 and 1120 are formed in the
lower portion of bins 600 and function and a manner similar to
openings 1018 in 1020 shown in FIG. 10, for loading bins 1100 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.
[0083] 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 efficient refilling/filling of the storage bins with
articles, and at the same time preserve a "first in/first out"
(FIFO) refilling/filling scheme. As shown therein, the full height
of the storage bin 1200 is formed by interlocking/stacking a
plurality of sectional bins 1202. Each bin section 1202 includes a
body portion having a standard length L and a standard width W1,
and a top portion having a somewhat narrower width W2. W1 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 section 1202 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 FIG. 12, each bin section 1202
preferably includes "anti crush" intrusions (package supports),
such as shown in FIGS. 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
warehouse 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 FIG. 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.
[0084] FIGS. 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 FIGS. 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 refilling/filling. 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
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.
[0085] 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 U.S. Pat. No. 5,240,139), in
combination with the forenoted controls for creating and/or
maintaining suction at the gripping end of the suction hose
[0086] 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 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 multi-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 FIG. 14-17. Strips 1400 can be
adhered to the inner corners (FIGS. 14 and 16) or walls (FIGS. 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.
[0087] FIG. 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.
[0088] 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 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.
[0089] FIG. 21 illustrates a vending machine similar to that of
FIG. 1, however, in place of the keypad portion of the user
interface, a touch screen 2102 is provided.
[0090] 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 are provided.
FIG. 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.
[0091] FIG. 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 are vertical and the weight
bearing supports are fixed. In FIG. 25b each article includes its
own support.
[0092] FIG. 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.
[0093] FIG. 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. FIG. 19 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.
[0094] 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.
* * * * *