U.S. patent application number 11/876427 was filed with the patent office on 2009-04-23 for unpowered end effector for dispensing apparatus.
This patent application is currently assigned to The Coca-Cola Company. Invention is credited to William S. Credle, Jonathan Kirschner, David Slagley.
Application Number | 20090101614 11/876427 |
Document ID | / |
Family ID | 40076834 |
Filed Date | 2009-04-23 |
United States Patent
Application |
20090101614 |
Kind Code |
A1 |
Kirschner; Jonathan ; et
al. |
April 23, 2009 |
Unpowered End Effector for Dispensing Apparatus
Abstract
A mechanical picking system for a x-y picker dispensing
apparatus that includes at least one substantially horizontal shelf
operable for supporting a product, and a picker assembly which
further includes an unpowered end effector. The unpowered end
effector includes a plurality of receiving fingers and a holding
area. The unpowered end effector is rotatable with respect to the
shelf to enable the fingers to transfer the product from the shelf
to the holding area.
Inventors: |
Kirschner; Jonathan; (Powder
Springs, GA) ; Slagley; David; (Roswell, GA) ;
Credle; William S.; (Roswell, GA) |
Correspondence
Address: |
SUTHERLAND ASBILL & BRENNAN LLP
999 PEACHTREE STREET, N.E.
ATLANTA
GA
30309
US
|
Assignee: |
The Coca-Cola Company
Atlanta
GA
|
Family ID: |
40076834 |
Appl. No.: |
11/876427 |
Filed: |
October 22, 2007 |
Current U.S.
Class: |
211/144 ;
211/153 |
Current CPC
Class: |
G07F 11/16 20130101;
G07F 11/165 20130101; G07F 11/32 20130101; G07F 11/42 20130101 |
Class at
Publication: |
211/144 ;
211/153 |
International
Class: |
A47F 5/02 20060101
A47F005/02; A47F 5/00 20060101 A47F005/00 |
Claims
1. A mechanical picking system for a x-y picker dispensing
apparatus, comprising: at least one substantially horizontal shelf
operable for supporting a product; and a picker assembly comprising
an unpowered end effector; wherein the unpowered end effector
comprises a plurality of receiving fingers and a holding area
wherein the unpowered end effector is rotatable with respect to the
shelf to enable the fingers to transfer the product from the shelf
to the holding area.
2. The system of claim 1, wherein the holding device comprises a
plurality of curved fingers.
3. The system of claim 1, wherein the unpowered end effector is
rotatable between a receiving position and a substantially vertical
holding position.
4. The system of claim 3, further comprising a receiving slide rod
positioned upward of the picking system operable to rotate the
unpowered end effector into the receiving position upon an impact
with a substantially horizontal surface.
5. The system of claim 4, wherein the unpowered end effector is
rotated by the first slide rod using a cam and a spring.
6. The system of claim 1, wherein the substantially horizontal
shelf comprises a product support for holding the position of the
product.
7. The system of claim 6, wherein the product support comprises a
plurality of shelf fingers.
8. The system of claim 7, wherein the plurality of receiving
fingers of the unpowered end effector are positioned to fit between
the plurality of shelf fingers of the product support such that the
unpowered end effector can vertically move above and below the
shelf.
9. The system of claim 8, wherein the unpowered end effector while
in the receiving position can move vertically between the plurality
of shelf fingers of the product support to engage the product; and
wherein the unpowered end effector can rotate into the holding
position from the weight of the product transitioned onto the
holding area.
10. The system of claim 1, wherein the dispensing apparatus further
comprises a dispensing device operable to receive the product
delivered by the unpowered end effector.
11. A method of vending a product from an x-y dispensing apparatus,
comprising: positioning an end effector of a picker assembly under
a product positioned on a substantially horizontal shelf; moving
the end effector upward to lift the product off of the shelf with
the end effector; rotating the end effector to hold the product;
and dispensing the product from the dispensing apparatus.
12. A notification system for a dispensing apparatus, comprising:
an event device affixed to a picker assembly wherein the event
device is operable to create an event upon successful capture of a
product by the picker assembly; and a detection device for sensing
the event.
13. The system of claim 12, wherein the event device comprises a
piezo electric spark device.
14. The system of claim 13, wherein the event is a piezo electric
spark.
15. The system of claim 12, wherein the detection device comprises
a acoustic sensor or optical sensor to detect the event.
16. The system of claim 12, further comprising a computing device
connected to the detection device to determine whether a successful
pick occurs and to determine whether to dispense the product,
attempt to re-pick the product, or supply a refund.
17. A pill door for a dispensing apparatus, comprising: a
dispensing chute for dispensing a product from the dispensing
apparatus to a consumer; and a rotation device to rotate the
product from a substantially horizontal position to a substantially
vertical position.
18. The system of claim 17, further comprising the dispensing chute
being positioned at least three feet above the ground.
19. The system of claim 17, wherein the rotation device comprise a
rotation wall position at an angle to cause the product to
rotate.
20. The system of claim 17, wherein the dispensing chute comprises
a rake to remove the product from an end effector of a picking
assembly.
Description
TECHNICAL FIELD
[0001] This invention relates generally to end effectors of a
dispensing apparatus and more specifically relates to an unpowered
end effector.
BACKGROUND OF THE INVENTION
[0002] Dispensing apparatuses such as vending machines are being
developed to incorporate x-y picker assemblies for picking products
from a x-y product grid. The picker assemblies employ motorized end
effectors that actually grab the product form the x-y product grid.
The motorized end effector thus requires wires, wire-harnesses, and
other electrical and mechanical components to effectuate the
picking of the product. Therefore, the initial cost and the
required maintenance of the picker assembly may be increased.
[0003] Thus, there is a need in the art for a low-cost, low
maintenance picker assembly for picking products from x-y product
grids
SUMMARY OF THE INVENTION
[0004] One embodiment of the application includes a mechanical
picking system for a x-y picker dispensing apparatus. The
mechanical picking system includes at least one substantially
horizontal shelf operable for supporting a product, and a picker
assembly which further includes an unpowered end effector. The
unpowered end effector includes a plurality of receiving fingers
and a holding area. The unpowered end effector is rotatable with
respect to the shelf to enable the fingers to transfer the product
from the shelf to the holding area.
[0005] Another embodiment of the application includes a method of
vending a product from an x-y dispensing apparatus. The method
includes positioning an end effector of a picker assembly under a
product positioned on a substantially horizontal shelf, moving the
end effector upward to lift the product off of the shelf with the
end effector, rotating the end effector to hold the product, and
dispensing the product from the dispensing apparatus.
[0006] Yet another embodiment of the application includes a
notification system for a dispensing apparatus. The notification
system includes an event device affixed to a picker assembly
wherein the event device is operable to create an event upon
successful capture of a product by the picker assembly, and a
detection device for sensing the event.
[0007] Yet another embodiment of the application includes a pill
door for a dispensing apparatus. The pill door includes a
dispensing chute for dispensing a product from the dispensing
apparatus to a consumer, and a rotation device to rotate the
product from a substantially horizontal position to a substantially
vertical position.
BRIEF DESCRIPTION OF THE DRAWINGS
[0008] FIG. 1 illustrates a dispensing apparatus according to an
exemplary embodiment of the application.
[0009] FIG. 2 illustrates shelf fingers according to an exemplary
embodiment of the application.
[0010] FIG. 3 illustrates a x-y product grid according to an
exemplary embodiment of the application.
[0011] FIG. 4 illustrates a picker assembly according to an
exemplary embodiment of the application.
[0012] FIG. 5 illustrates an exploded view of a picker assembly
according to an exemplary embodiment of the application.
[0013] FIG. 6 illustrates a holding position of an unpowered end
effector according to an exemplary embodiment of the
application.
[0014] FIG. 7 illustrates an event device attached to a picking
assembly according to an exemplary embodiment of the
application.
[0015] FIG. 8 illustrates a pill door according to an exemplary
embodiment of the application.
[0016] FIG. 9 illustrates a pill dispensing chute according to an
exemplary embodiment of the application.
[0017] FIG. 10 illustrates a rotating device of a pill dispensing
chute according to an exemplary embodiment of the application.
DETAILED DESCRIPTION
[0018] Generally described, the present application relates to a
picker assembly for a dispensing apparatus such as a vending
machine that dispenses products such as cans, bottles, boxes, etc.,
to a waiting consumer. The dispensing apparatus may dispense a
number of different products out of various rows of shelves through
the use of a picker assembly which is part of a x-y positioning
assembly. The picker assembly may include an unpowered end effector
operable for removing the product from the shelf. The unpowered end
effector does not require a motor, servo, or any other electrically
driven means for picking a product. Therefore, the unpowered end
effector reduces the upfront design, cost, and maintenance required
for the existing powered picking systems.
[0019] In an exemplary embodiment, the unpowered end effector is
rotatable about an axis between a receiving position and a holding
position. Through the movement of the picker assembly by the x-y
positioning assembly, the unpowered end effector can engage the
product in the receiving position and transfer the product from the
shelf to the unpowered end effector in the holding position using
the weight of the product. Once the picker assembly possesses the
product in the holding position, the picker assembly can deliver
the product to a dispensing area for retrieval by the consumer or
for any other use.
[0020] The application now will be described more fully hereinafter
with reference to the accompanying drawings, in which exemplary
embodiments of the application is shown. This application may,
however, be embodied in many different forms and should not be
construed as limited to the embodiments set forth herein; rather,
this embodiment is provided so that this disclosure will be
thorough and will fully convey the scope of the application to
those skilled in the art. Like numbers refer to like elements
throughout the number of figures.
[0021] FIG. 1 is an illustrative view of a dispensing apparatus 12
for use with the unpowered end effector 28 of the picker assembly
18. The dispensing apparatus 12 may include a number of shelves 14
oriented in a number of rows. The shelves 14 are configured to
support products 16 to be dispensed. The products 16 may be cans,
bottles, boxes, or any other product desired to be dispensed.
[0022] The shelf 14 may be inclined as known in the art and
includes dividers as known in the art to provide a number of
inclined "chutes," which allow product, especially round product,
to slide or roll down to the front of the shelf under the influence
of gravity. Any method or device for moving the products along the
shelf is contemplated herein.
[0023] As illustrated in the exemplary embodiment of FIG. 2, at the
front edge of the shelf 14 is provided a product support. The
product support may be a retention feature in each row to secure
the product to the end of the shelf 14. In an exemplary embodiment,
the product support includes a comblike lip configuration provided
by a number of spaced-apart "shelf fingers" 15 that may extend
generally upwardly from the front edge of the shelf 14. Other
configurations may be used herein.
[0024] The products 16 may be aligned on the shelf 14 in the
individual chutes. The products 16 in the chutes may vary. The
combination of the rows of shelves 14 and the chutes within the
rows form an x-y product grid 17 on the dispensing apparatus 12 as
shown in the exemplary embodiment of FIG. 3.
[0025] The dispensing apparatus 12 also includes a x-y positioning
assembly for negotiating the x-y product grid 17. In an exemplary
embodiment, the x-y positioning assembly includes a horizontal
device 20 and a vertical device 22. The horizontal device 20 may
include two substantially horizontal rods 21 extending across a
portion of the width of the dispensing apparatus in a substantially
parallel orientation. One of the rods may be positioned
substantially at the top of the dispensing apparatus 12 and the
second rod may be positioned substantially at the bottom of the
dispensing apparatus. The vertical device 22 may include a vertical
rod 23 affixed to the horizontal device 20 such that the vertical
rod 23 may move horizontally across the horizontal device 20. A
motor assembly (not shown) may be included to move the vertical
device 22 along the horizontal device 20.
[0026] A picker assembly 18 may be affixed to the vertical device
22 operable to move up and down the vertical device. A motor
assembly (not shown) may be included to move the picker assembly
along the vertical device.
[0027] In this exemplary embodiment, the combined motion of the
vertical device 22 along the horizontal device 20 and the motion of
the picker assembly 18 along the vertical device 22 allows the
picker assembly 18 to positioning the x-y product grid 17. A
controller may be used to control the x-y positioning assembly and
to position the picker assembly 18 at a desired location on the x-y
product grid 17.
[0028] It should be understood that the x-y positioning assembly
described herein is merely an exemplary embodiment. Any system
capable of moving the picker assembly 18 across the x-y product
grid 17 is contemplated herein, including without limitation a
system of any number of vertical or horizontal devices to effect
movement or a robotic arm system.
[0029] FIG. 4 illustrates an exemplary embodiment of a picker
assembly 18. The picker assembly 18 includes an unpowered end
effector 28. In an exemplary embodiment, the unpowered end effector
28 includes a receiving area 30 and a holding area 32. The
receiving area 30 engages the product 16 on the shelf 14 and
transfers the product 16 to the holding area 32.
[0030] The receiving area 30 may include a number of receiving
fingers 31. In an exemplary embodiment, the receiving fingers 31
may be substantially linear in shape and be spaced. The holding
area 32 may include a number of curved holding fingers 33
appropriate for supporting a product 16 in place. The holding area
32 may not include curved fingers but may include a solid structure
capable of supporting a product or any other variation thereof. The
unpowered end effector 28 may be rotatable about a shaft 39. The
shaft 39 may engage a cam follower arm 42 which may permit the
shaft to rotate between the receiving position and the holding
position.
[0031] FIG. 5 illustrates an exploded view of the picker assembly
18. It should be understood that the picker assembly 18 is not
limited to this embodiment but may be any configuration capable of
transferring the product 16 from the receiving area 30 to the
holding area 32. In the exemplary embodiment of FIG. 5, a cam block
34 engages with a main plate 36 to form a cam reception area 35, 37
for a cam follower arm 42. The portion of the cam follower arm 42
that engages the cam reception area 35, 37 may include ball
bearings 42. The cam follower arm 42 also connects with a shaft 39
to permit the unpowered end effector 28 to rotate between the
receiving and the holding positions. The cam follower arm 42 and
the shaft 39 may further connect with a spring damper system 43 to
effect the motion of the cam. The connection may be made through a
damper arm 44 or any other suitable mechanism.
[0032] The unpowered end effector 28 is ultimately rotated through
the cam system described herein. A receiving slide rod 38 may be
positioned with respect to the cam follower arm 42 to push the cam
follower arm 42 and rotate the unpowered end effector 28 into the
receiving position. The top end of the receiving slide rod 38 may
contact a surface to force the receiving slide rod 38 downward in
relation to the cam follower arm 42. The downward motion of the
receiving slide rod 38 will cause the rotation of the cam follower
arm 42.
[0033] The picker assembly 18 may further include a holding slide
rod 40 positioned with respect to the cam follower arm 42 to push
the cam follower arm 42 and rotate the unpowered end effector 28
into the holding position. The bottom end of the holding slide rod
40 may contact a bottom surface to force the holding slide rod
upward in relation to the cam follower arm 42. The upward motion of
the holding slide rod 40 will cause the rotation of the cam
follower arm 42.
Operation of the Picker Assembly
[0034] The following is an example of the operation of the
unpowered end effector 28 in dispensing a product from a shelf. The
unpowered end effector 28 dispenses the product 16 by capturing the
product 16 from the shelf fingers 15 of the shelf 14. The unpowered
end effector 28 begins in the receiving position. In the receiving
position, the unpowered end effector 28 is rotated such that the
fingers 30 are angled downward from vertical. In an exemplary
embodiment, the fingers 30 are rotated approximately fifteen to
forty-five degrees off vertical The angle of rotation, however, may
be any angle appropriate for engaging the product 16 on the shelf
fingers 15.
[0035] Fingers 30 of the unpowered end effector 28 are positioned
between the shelf fingers 15 of the shelf 14. The picker assembly
18 then moves upward causing the fingers 30 to remove the product
16 from the shelf fingers 15. The fingers 30 may capture the
product by pushing, pulling, scraping, lifting, or performing any
other action that forces the product 16 from the shelf fingers 15.
After removing the product 16 from the shelf fingers 15, the
product 16 falls through gravity to the holding area 32 of the
unpowered end effector 28. The weight of the product 16 on the
holding area 32 causes the unpowered end effector 28 to rotate to
the holding position. In an exemplary embodiment, the holding
position is a substantially vertical position as shown in the
exemplary embodiment of FIG. 6. The picker assembly 18 may then
move through the x-y positioning system to any desired location to
dispense or deliver the product 16.
[0036] In an exemplary embodiment of operation, the picker assembly
18 resides in the lower left corner of the dispensing apparatus 12.
The picking assembly 18 may then move vertically along the x-y
positioning assembly to cause the receiving slide rod 38 to contact
a horizontal surface. The impact of the receiving slide rod 28 with
the horizontal surface forces rotation of the cam follow arm 42 and
thereby rotates the unpowered end effector 28 into the receiving
position. It should be understood that any method or system to get
the unpowered end effector 28 in the receiving position is
contemplated herein.
[0037] Likewise, the holding slide rod 40 may contact a bottom
surface to reset the unpowered end effector 28 into the holding
position. In this exemplary embodiment, since the holding position
is substantially vertical, the unpowered end effector 28 will not
impact any of the shelves 14 or the shelf fingers 15 when moving
across the x-y product grid 17. The unpowered end effector 28 may
then selectively be placed in the receiving or holding position as
may be desired.
Notification of Picking
[0038] To ensure that a product 16 was picked by the picker
assembly 18, the dispensing apparatus 12 may utilize a picking
notification system to determine whether a product 16 was
successfully picked. The picking notification system provides a low
cost and low maintenance system to sense the picking of a product
16.
[0039] Picking notification may come from any event device 50 that
creates an event detectable by a detection device (not shown) in
the dispensing apparatus 12. The event may be a piezo electric
spark, a noise, a light, or any other detectable event. In an
exemplary embodiment of the unpowered end effector 28, illustrated
in FIG. 7 the event device 50 may be positioned about the shaft 39
in relation to the unpowered end effector 28. The rotation of the
unpowered end effector 28 from the receiving position to the
holding position may cause the shaft 39 to rotate thereby causing
the piezoelectric spark device to make a piezoelectric spark. A
detection device may be located in the dispensing apparatus 12 that
can sense the piezo electric spark through heat, light, or any
other emissions and therefore notify the dispensing apparatus 12
that a product 16 has been picked. The detection device may be
based on sound, electrical disturbance or light. An example is a
sound, light or electrical noise detector located inside the vendor
that is programmed to listen for a response from the emitter
positioned onto the picker, at the exact time interval when the
product should be dropped into the picker.
[0040] In another exemplary embodiment, the dispensing apparatus 12
may be notified of a successful picking of a product 16 through
detection of sound relating to the picking. For the unpowered end
effector 28, a significant noise will be made from the transition
of the product 16 from the receiving area 30 to the holding area
32. A detection device may then detect the noise and alert the
dispensing apparatus 12 that a successful picking of the product 16
occurred.
[0041] Dispensing apparatus 12 also may include a computer system
(not shown) integrated with the detection device and the dispensing
apparatus to control its operation. As known by those of skill in
the art, the computer system may include a general purpose
computer, a special purpose computer, or other programmable data
processing apparatus designed to control the operation of the
dispensing apparatus and store information regarding the operation
and use of the dispensing apparatus. The computer system may
include a computer-readable memory that can direct the computer or
other programmable data processing apparatus to implement a series
of operational steps to be performed on the computer or other
programmable apparatus to produce a computer implemented process.
The computer system also may include a hard drive for storing
information on the status of the x-y product grid, operating
conditions, and use by consumers.
[0042] The computer system may be programmed to instruct the
dispensing apparatus on how to operate based on the information
gathered from the detection device. If the detection device
determines that a product has been successfully picked, the
computer system can instruct the dispensing apparatus to dispense
the product to the consumer. If the detection device determines
that a product was not successfully picked, then the computer
system may instruct the dispensing apparatus to attempt to re-pick
the product, pick the product from a different location in the x-y
product grid, or refund the consumer's money.
Pill Door Dispensing Chute
[0043] The present application further includes a pill door 100 for
the dispensing apparatus 12. As known by those of ordinary skill in
the art, a pill door 100 is essentially the door of a vending
machine. An embodiment of a pill door is shown in FIG. 8. As shown
in an exemplary embodiment of FIG. 9, the pill door 100 may be
configured to operate with any x-y picking vending machines. The
pill door 100 may include a dispensing chute 102 for dispensing the
product 16 through the pill door 100 to a consumer. The dispensing
chute 102 may include a rake 104 for removing the product 16 from
an end effector 28 of a picking assembly 18. The rake 104 may
include rake fingers 106 that extend from a back portion of the
pill door 100 towards the x-y product grid 17 of the dispensing
apparatus 12. In an exemplary embodiment, the rake fingers 106 are
spaced to interface the holding area 32 of the unpowered end
effector 28 such that the unpowered end effector 28 may move from
above the rake 104 to below the rake 104 to allow the rake fingers
106 to remove the product 16. The rake fingers 106 may be declined
to permit the product 16 to move into the dispensing chute 102 of
the pill door 100.
[0044] If the product 16 is positioned in the horizontal
orientation, the pill door 100 may include a rotation device 108.
An exemplary embodiment of a rotation device 108 is illustrated in
FIG. 10. The rotation device 108 of FIG. 10 includes a rotation
wall 110 oriented at approximately a 45 degree angle. It should be
understood that the rotation wall 110 may be at any angle that
forces the product 16 to rotate to a substantially vertical
position. In an exemplary embodiment, the rotation wall 110 creates
space for a chute that is slightly larger than the product. The
slightly larger opening permits the product 16 to rotate smoothly
in the dispensing chute 102. The product 16 moves down the rake 106
and into the rotation device 108 through the force of gravity. The
rotation wall 110 then forces the product 16 to rotate into a
substantially vertical position as it moves further down the
dispensing chute 102. The dispensing chute 102 may include an
opening 112 on the other surface of the pill door 160. The opening
112 allows the consumer to have access to a dispensed product 16.
Due to the rotation device 108, the consumer may then receive a
product 16 oriented in a substantially vertical position.
[0045] The rotation device 108 has the advantage of smoothly
rotating and dispensing the product 16 to the user. Because the
pill door 100 is to be used with an x-y picking vending machine,
the picker assembly 18 can provide the product 16 at any desired
location within the dispensing apparatus 12. In an exemplary
embodiment, the dispensing chute 102 may be positioned above the
waist of an average consumer. For example, the dispensing chute 102
can be at a height that does not require the customer to severely
bend over to retrieve the dispensed product from the opening. In an
exemplary embodiment, the dispensing chute 102 is approximately
four feet from the ground. The height can be set to meet ADA
requirements or any other height.
[0046] The pill door 100 may further include a money return device
positioned above the waist of an average consumer. The height of
the money return device is positioned to prevent the consumer from
having to bend over to retrieve change or a refund of its
money.
[0047] Many modifications and other embodiments of the application
will come to mind to one skilled in the art to which this
application pertains having the benefit of the teachings presented
in the foregoing descriptions and the associated drawings.
Therefore, it is to be understood that the application is not to be
limited to the specific embodiments disclosed and that
modifications and other embodiments are intended to be included
within the scope of the appended claims. Although specific terms
are employed herein, they are used in generic and descriptive sense
only and not for purposes of limitation.
* * * * *